A wearable elbow exosuit system has been proposed in this work, including the origami-inspired exosuit structure along with a portable air source and electromyography (EMG)-based active rehabilitation control method. The elbow exosuit is designed usi...
This paper proposes a unified energy management, fault detection, and fault-tolerant control (EMS–FDI–FTC) framework for Hybrid Hydrogen Electric Vehicles (HHEVs) integrating a fuel cell (FC), battery (Bat), and supercapacitor (SC). While...
Assistive devices in recent years have transitioned from a passive mode of operation to the integration of smart solutions that enable humans to interact with active and robotic platforms. The main problems in the evolution of this kind of device are...
Space robots operate in unconventional environments, which places specific demands on their mechanical, actuation, and control systems. They need to address a variety of challenges in future space exploitation and exploration, such as in-orbit deploy...
This study proposes an electromagnetic design strategy to improve the energy efficiency of electric-vehicle (EV) traction motors by defining an operating region with high energy contribution using Urban Dynamometer Driving Schedule (UDDS) data and ta...
In order to reduce the influence of external radial disturbances on the control accuracy and stability of the vehicle magnetic suspension flywheel battery system during driving, and to further enhance the system’s disturbance rejection ability,...
Collaborative control of multiple surface vessels remains a significant challenge in autonomous maritime operations, particularly within environments characterized by sparse rewards. Conventional Multi-Agent Proximal Policy Optimization (MAPPO) often...
This paper addresses the stringent requirements of high-precision equipment for broadband, contactless active vibration isolation by tackling three key research gaps: the lack of an integrated design deeply coupling vertical and lateral subsystems, t...
As an emerging physical energy storage technology, the magnetic suspension flywheel battery boasts prominent advantages such as high working efficiency, long service life, and short charging time. However, improving the energy conversion efficiency o...
Electromagnetic levitation control is a core technology for ensuring the stable operation of maglev trains. To enhance the disturbance rejection capability and stability of the levitation system, an IWOA-ISMC control strategy is proposed in this pape...
Distributed drive vehicles provide enhanced actuation flexibility, making longitudinal–lateral coordinated stability control essential for improving vehicle handling and safety under complex driving conditions. Nevertheless, the existing coordi...
Safe navigation in dynamic environments remains challenging because classical distance-based constraints ignore the coupling between a robot’s translational motion and attitude dynamics, and fixed safety margins are either over-conservative or...
To meet the demand for high torque density in applications such as actuators, this paper investigates the use of dual-armature (DA) windings on both stator and rotor to enhance torque performance for stator electrically excited machines. A systematic...
In recent years, the surge in network traffic has led to a substantial increase in energy consumption, making the construction of green and energy-efficient networks a critical challenge in the field of communications. Software-Defined Networking (SD...
To mitigate the significant impact of system nonlinearities, time-varying parameters, and external load disturbances on the output force of hydraulic servo systems in active hydraulic suspensions for engineering vehicles, this study proposes a beetle...
Dynamic scheduling of public transit is crucial for enhancing comprehensive operational benefits such as service quality and operating costs. However, uncertain passenger demands and the uncontrolled block effects of signalized intersections can lead...
This study presents a review of passive linear gravity compensation (GC) mechanisms. Linear GC is defined as the realization of a displacement-independent constant upward force along a vertical axis to balance the gravitational load over the entire s...
In this paper, we study the leader-following time-varying formation (TVF) tracking control of general linear multi-agent systems (MASs) with nonzero control input of the leader, and the followers which have magnitude and rate saturation (MRS) and unk...
Effective and intelligent fault diagnosis is essential for ensuring the operational safety and reliability of gearbox systems. In practical engineering environments, however, weak fault-related features are often obscured by strong background noise,...
This paper addresses the high-precision transportation control of a large space flexible truss using four space robots, with a focus on dynamic modeling and control strategy design. The system’s dynamic model is derived based on Kane’s me...
Walking on compliant terrain presents a substantial challenge for individuals with lower-limb amputation, further elevating their already high risk of falling. While powered ankle–foot prostheses have demonstrated adaptability across speeds and...
Lower-limb exoskeletons require accurate dynamic models to achieve stable and compliant human–robot interactions. However, least-squares-based identification often relies on demanding experiments and may yield limited accuracy for exoskeletons...
In many unmanned aerial vehicle (UAV) applications, achieving stable flight despite actuator failures is crucial. Among the many existing fault-tolerant control (FTC) methods, adaptive control is a practical approach. In this article, we present expe...
Surgical robots are increasingly utilized in medicine for their reliability and convenience. An accurate kinematic model is essential for precise robot control and enhanced surgical safety. However, the high nonlinearity and computational complexity...
High-speed miniature rotary actuators are critical components in compact, high-performance systems. However, conventional electromagnetic micromotors face a prominent trade-off between miniaturization and output performance, which restricts their app...
The requirements of the upcoming aircraft generation based on hybrid or electric propulsion discourage the use of Ice Protection Systems (IPSs) based on hot-air spilled from engine or demanding a large consumption of electrical power. In line with th...
Magnetorheological (MR) fluids are composite materials composed of ferromagnetic particles, medium oils, and several types of additives. MR fluids are particularly suitable for haptic applications, because their rheological properties can be rapidly,...
Accurate pattern transfer in the lithography process demands extreme positioning accuracy. However, various external disturbances acting on the wafer stage can lead to positioning errors. To address this issue, this paper proposes a pole-placement-ba...
This work presents a systematic methodology for the preliminary design and optimization of electromechanical actuators, aimed at minimizing overall mass and rotational inertia while satisfying torque and speed requirements. The proposed approach inte...
This paper proposes a closed-form feedback control framework for rear- and front-wheel-drive car-like vehicles, aiming to solve trajectory tracking and collision avoidance tasks operating in complex environments. This method constructs novel risk ass...
To address the challenges of strong electromechanical coupling, nonlinear friction, and poor disturbance rejection in semi-direct-drive scraper conveyor systems under complex coal mining conditions, this paper aims to propose a high-performance drive...
Droplet-based microfluidics has emerged as a powerful platform for precise fluid manipulation in biomedical, chemical, and material science applications. Among various geometries, T-junction microchannels are widely utilized for droplet generation an...
The escalating incidence of knee cartilage damage underscores the need for improved treatment approaches, while the present modalities are constrained by limitations. This paper presents a novel mobile device for manipulating microrobots to deliver t...
Fiber actuators underpin soft robots, artificial muscles, and smart textiles. A persistent bottleneck is the fabrication of monodomain liquid crystal elastomer (LCE) microfibers with narrow size distributions while preserving axial alignment. This wo...
Finite element analysis (FEA) remains the gold standard for simulating piezoelectric microactuators because it resolves coupled electromechanical fields with high fidelity. However, transient FEA becomes prohibitively expensive when thousands of actu...
Steering angle control in self-driving cars is usually organized in layers combining trajectory planning, path tracking, and low-level actuator control. The steering controller converts the planned path into a desired steering angle and then ensures...
Viticulture is facing growing economic and environmental pressures that demand a transition toward intelligent and autonomous crop management systems. Phytopathologies remain one of the most critical threats, causing substantial yield losses and redu...
This paper proposes a fuzzy sliding mode controller optimized using particle swarm optimization (FSMC-PSO) for trajectory tracking of an autonomous underwater vehicle (AUV). Conventional sliding mode control (SMC) is well known for its robustness aga...
In marine hot–humid and salt spray environments, shipborne snap-action limit switches operating under micro-current loads are prone to triggering failures caused by the accumulation of heterogeneous films on electrical contact interfaces, which...
Legged robots exhibit high mobility on uneven terrain but face challenges in stability, complex control systems, and energy efficiency. This study proposes a leg mechanism that significantly alters its stiffness by inducing jamming in a chainmail str...
The vehicle-mounted flywheel battery is a complex assembly of multiple components that is subject to intense multi-physical field coupling and external disturbances, which lead to real-time changes in system parameters and reduce control performance....
Electric Water Pumps (EWPs) are being adopted more widely to improve thermal management in internal combustion engines and electrified powertrain systems. In this context, the drive motor must deliver high efficiency and reliability despite a strict...
This paper presents a torque oscillation attenuation method for permanent magnet synchronous motors (PMSMs) based on the combination of sliding-mode control (SMC) and the equivalent input disturbance (EID) approach. To deal with the changes in PMSM p...
To solve the difficulty of autonomous decision-making caused by the complex driving environment and changeable weather conditions, an end-to-end autonomous decision-making method based on residual network (ResNet), convolutional block attention modul...
To address trajectory tracking of cable-driven continuum robots (CDCRs) in the presence of obstacles, this paper proposes an integrated control framework that combines online trajectory replanning, obstacle avoidance, and tracking control. The contro...
Recently, unmanned aerial vehicles (UAVs) based on electric propulsion systems are being increasingly adopted in various fields, including industrial and military applications. Outer-rotor surface-mounted permanent magnet synchronous motors (SPMSMs)...
The dynamic response accuracy of suspension servo actuators directly determines the vibration-reduction performance of active-suspension systems. However, during long-term service, the system is prone to the influence of compound-degradation faults,...
This paper introduces a compact pneumatic artificial muscle (CPAM) that integrates a coaxial rod and an internal helical compression spring (stiffness 9750 N/m) into a McKibben-type outer muscle and compares it to a commercial DMSP-20-200N from FESTO...
Micromachines, MEMS and actuators suffer from much more significant relative friction and wear issues than their equivalent macroscopic devices. Active magnetic bearings can be a good option to mitigate friction issues; however, their construction at...
As the core thrust output component of electromagnetic drive systems, the Dual Three-Phase Linear Induction Motor (DT-LIM) places stringent requirements on the stability and reliability of its control system, and its sensorless control strategy has e...
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