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Displaying Tactile Sensation by SMA-Driven Vibration and Controlled Temperature for Cutaneous Sensation Assessment
Soft Robotic Actuators: Applications in Bioengineering and HASEL actuators's Future Potential

Journal Description

Actuators

Actuators is an international, peer-reviewed, open access journal on the science and technology of actuators and control systems published monthly online by MDPI.

Open Access— free for readers, with article processing charges (APC) paid by authors or their institutions.
High Visibility: indexed within SCIE (Web of Science), Scopus, Inspec, and other databases.
Journal Rank: JCR - Q2 (Engineering, Mechanical) / CiteScore - Q2 (Control and Optimization)
Rapid Publication: manuscripts are peer-reviewed and a first decision is provided to authors approximately 17.7 days after submission; acceptance to publication is undertaken in 1.9 days (median values for papers published in this journal in the second half of 2024).
Recognition of Reviewers: reviewers who provide timely, thorough peer-review reports receive vouchers entitling them to a discount on the APC of their next publication in any MDPI journal, in appreciation of the work done.

Impact Factor: 2.2 (2023); 5-Year Impact Factor: 2.4 (2023)

Imprint Information Journal Flyer Open Access ISSN: 2076-0825

Latest Articles

24 pages, 2621 KiB

Open AccessArticle

Nonlinear Robust Control for Missile Unsupported Random Launch Based on Dynamic Surface and Time Delay Estimation

by Xiaochuan Yu, Hui Sun, Haoyang Liu, Xianglong Liang, Xiaowei Yang and Jianyong Yao

Actuators 2025, 14(3), 142; https://doi.org/10.3390/act14030142 - 13 Mar 2025

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 paper, a nonlinear robust control strategy is proposed to [...] Read more.

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 paper, a nonlinear robust control strategy is proposed to control the missile attitude by actively adjusting the oscillation of the launcher through the hydraulic actuator, enhancing the launching safety and the adaptability of the VMLS to the launching site. Firstly, considering the interaction among the launch canister, adapters, and missile, a 6-DOF dynamic model of the launch system is established, in combination with the dynamics of the hydraulic actuator. Then, in order to facilitate the nonlinear controller design, the seventh-order state-space equation is constructed, according to the dynamic model of the launch system. Subsequently, in view of the problem of “differential explosion” in the backstepping controller design of the seventh-order nonlinear system, a nonlinear dynamic surface control (DSC) framework is proposed. Meanwhile, the time delay estimation (TDE) technique is introduced to suppress the influence of the complex nonlinearities of the launch system on the missile attitude control, and a nonlinear robust control (NRC) is introduced to attenuate the TDE error. Both of these are integrated into the DSC framework, which can achieve asymptotic output tracking. Finally, numerical simulations are conducted to validate the superiority of the proposed control strategy in regards to missile launch response control. Full article

(This article belongs to the Special Issue Motion Planning, Trajectory Prediction, and Control for Robotics)

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16 pages, 4337 KiB

Open AccessArticle

Experimental Analysis of Electrohydrodynamic Jet Actuation Modes Based on the Phase Doppler Technique

by Gustavo Nunes, Miguel Moreira, Frederico Rodrigues and José Páscoa

Actuators 2025, 14(3), 141; https://doi.org/10.3390/act14030141 - 13 Mar 2025

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 systems through the observation of the different characteristics [...] Read more.

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 systems through the observation of the different characteristics of the produced droplets, in a way to enhance the control of the electrohydrodynamic jet. To obtain these results, the SpraySpy equipment was used, based on the phase Doppler technique, obtaining several characteristics of the droplets, such as velocity, size and distribution for a single liquid, acetone. These characteristics were acquired by varying parameters, namely the distance between the emitter and the collector, the liquid flow rate and the diameter of the emitter. Additionally, a high-speed camera was used to capture the cone angle, in the same operating conditions. The findings revealed a considerable decrease in particle velocity with an increase in the flow rate, while droplet size exhibited a noticeable tendency to grow under the increase in the emitter diameter. These insights aim to provide a deeper understanding of the relationship between these operational parameters and droplet behavior, contributing to the improvement of electrospray applications. Full article

(This article belongs to the Special Issue Flow Control and Beyond Enhancing Performance and Energy Efficiency in Complex Fluid System)

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14 pages, 5324 KiB

Open AccessArticle

Development of Tendon-Driven Continuum Robot with Visual Posture Sensing for Object Grasping

by Ryo Onose and Hideyuki Sawada

Actuators 2025, 14(3), 140; https://doi.org/10.3390/act14030140 - 13 Mar 2025

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 objects by wrapping themselves around them, [...] Read more.

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 objects by wrapping themselves around them, and they are expected to have high grasping performance. However, their infinite degrees of freedom and soft structure make modeling and controlling difficult. In this study, we develop a tendon-driven continuum robot system with color-based posture sensing. The robot is driven by dividing the continuum body into two parts, enabling it to grasp objects by flexible motions. For posture sensing, each joint is painted in a different color, and the 3D coordinates of each joint are detected by a stereo camera for estimating the 3D shape of the robotic body. By taking a video of the robot in actuation and using image processing to detect joint positions, we succeeded in obtaining the posture of the entire robot in experiments. We also robustly demonstrate the grasping manipulation of an object using the redundant structure of the continuum body. Full article

(This article belongs to the Special Issue Advanced Mechanism Design and Sensing for Soft Robotics)

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17 pages, 7928 KiB

Open AccessArticle

Research on Viewpoints Planning for Industrial Robot-Based Three-Dimensional Sculpture Reconstruction

by Zhen Zhang, Changcai Cui, Guanglin Qin, Hui Huang and Fangchen Yin

Actuators 2025, 14(3), 139; https://doi.org/10.3390/act14030139 - 13 Mar 2025

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 scanning based on the object’s dimensions. Subsequently, local viewpoint planning is conducted [...] Read more.

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 scanning based on the object’s dimensions. Subsequently, local viewpoint planning is conducted to refine regions that were incompletely captured in the initial step, with a genetic algorithm optimizing the scanning paths to enhance efficiency. The local models are then aligned and fused with the global model to produce the final 3D reconstruction. Comparative experiments on sculptures made of different materials were conducted to validate the effectiveness of the proposed method. Compared with CAD-slicing and surface-partitioning methods, the proposed approach achieved superior model completeness, a scanning accuracy of 0.26 mm, a standard deviation of 0.31 mm, and a total scanning time of 152 s. The results indicate that the proposed method enhances reconstruction integrity and overall quality while maintaining high efficiency, making it a viable approach for high-precision 3D surface inspection tasks. Full article

(This article belongs to the Section Actuators for Robotics)

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19 pages, 2550 KiB

Open AccessArticle

Analytical Modeling of Shrouded Rotors in Hover with Experimental and Computational Validation

by Abdallah Dayhoum, Alejandro Ramirez-Serrano and Robert J. Martinuzzi

Actuators 2025, 14(3), 138; https://doi.org/10.3390/act14030138 - 11 Mar 2025

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. An experimental test rig was designed [...] Read more.

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. An experimental test rig was designed and manufactured to measure the rotor thrust and total thrust separately as well as the rotor torque. A key aspect was to account for the impact of a test rig on experimental results using computational simulations for the shrouded rotor configuration with and without the test rig. The findings indicate that the effects of the test rig were minimal and could be neglected, ensuring the validity of the experimental data compared to the analytical model. The analytical model employs a hybrid approach combining blade element momentum theory (BEMT) and the sphere-cap model which are used in conjunction with the shrouded rotor inflow ratio, as well as post-stall and tip gap clearance models. BEMT is used to calculate rotor performance, while the sphere-cap model addresses the aerodynamic influence of the shroud. The results demonstrate that the analytical model predicts shrouded rotor performance with considerable accuracy, addressing both the rotor dynamics and the shroud’s contribution to performance. Full article

(This article belongs to the Special Issue Aerospace Mechanisms and Actuation—Second Edition)

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20 pages, 2602 KiB

Open AccessArticle

Performance Improvement in a Vehicle Suspension System with FLQG and LQG Control Methods

by Tayfun Abut, Enver Salkım and Andreas Demosthenous

Actuators 2025, 14(3), 137; https://doi.org/10.3390/act14030137 - 10 Mar 2025

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) control methods were designed and used for active control [...] Read more.

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) control methods were designed and used for active control to increase vehicle handling and passenger comfort, with the aim of reducing or eliminating vibrations by performing active control of passive suspension systems using these methods. The optimum values of the coefficients of the points where the membership functions of the LQG and Fuzzy LQG methods touch were obtained using the grey wolf optimization (GWO) algorithm. The success of the control performance rate of the applied methods was compared based on the passive suspension system. In addition, the obtained results were compared with each other and with other studies using the integral time-weighted absolute error (ITAE) performance criterion. The proposed control method yielded significant improvements in vehicle parameters compared with the passive suspension system. Vehicle body movement, vehicle acceleration, suspension deflection, and tire deflection improved by approximately 88.2%, 91.5%, 88%, and 89.4%, respectively. Thus, vehicle driving comfort was significantly enhanced based on the proposed system. Full article

(This article belongs to the Special Issue Advanced Actuation and Control Technologies for Vehicle Driving Systems—2nd Edition)

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22 pages, 2946 KiB

Open AccessArticle

Fast Multimodal Trajectory Prediction for Vehicles Based on Multimodal Information Fusion

by Likun Ge, Shuting Wang and Guangqi Wang

Actuators 2025, 14(3), 136; https://doi.org/10.3390/act14030136 - 10 Mar 2025

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 propose a novel trajectory prediction model that adopts the [...] Read more.

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 propose a novel trajectory prediction model that adopts the encoder–decoder paradigm. In the encoder, we introduce a dual-thread interaction relationship encoding method based on a sparse graph attention mechanism, which allows our model to aggregate richer multimodal interaction information. Additionally, we introduce a non-autoregressive query generation method that reduces the model’s inference time by approximately 80% through the parallel generation of decoding queries. Finally, we propose a multi-stage decoder that generates more accurate and reasonable predicted trajectories by predicting trajectory reference points and performing spatial and posture optimization on the predicted trajectories. Comparative experiments with existing advanced algorithms demonstrate that our method improves the minimum Average Displacement Error (minADE), minimum Final Displacement Error (minFDE), and Miss Rate (MR) by 10.3%, 10.3%, and 14.5%, respectively, compared to the average performance. Lastly, we validate the effectiveness of the various modules proposed in this paper through ablation studies. Full article

(This article belongs to the Special Issue Advances in Dynamics and Motion Control of Unmanned Aerial/Underwater/Ground Vehicles)

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29 pages, 14511 KiB

Open AccessArticle

Research on Path Smoothing Method for Robot Scanning Measurement Based on Multiple Curves

by Chen Chen, Liandong Yu, Huakun Jia, Yichen Huang, Xiangyang Wang, Yang Lu, Rongke Gao and Hao Jin

Actuators 2025, 14(3), 135; https://doi.org/10.3390/act14030135 - 10 Mar 2025

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 models or point cloud data of vision systems, [...] Read more.

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 models or point cloud data of vision systems, and its measurement path is a linear path composed of discrete feature points. Vibrations are generated by robots when passing through corners between adjacent linear segments. In order to reduce vibration, an algorithm for smoothing the robot’s measurement path based on multiple curves is proposed. Based on the proposed robot scanning measurement path generation algorithm, a robot scanning measurement path is generated. The position and attitude of the scanning path are represented as multiple curves using a position and attitude representation method based on multiple curves. The corners of the position curve and attitude curve are smoothed using a 5th-order B-spline curve. Based on the established robot position tolerance and attitude tolerance constraints and geometric continuity, the control points of the B-spline curve are solved, and corresponding position corner smooth B-spline curves and attitude corner smooth B-spline curves are constructed. Based on the geometric continuity, we use B-spline curves to replace the transition parts of adjacent position corner points and adjacent attitude corner points in the scanning path and then achieve the synchronization of robot position and attitude by the common curve parameter method. Finally, the effectiveness of our proposed path smoothing algorithm was verified through robot joint tracking experiments and scanning measurement experiments. Full article

(This article belongs to the Section Actuators for Manufacturing Systems)

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14 pages, 537 KiB

Open AccessArticle

MPC-Based Speed Tracking Control for Subway Trains Under Actuator Constraints

by Dongdong Liu, Guojun Yan, Jing Zhou and Bo Chen

Actuators 2025, 14(3), 134; https://doi.org/10.3390/act14030134 - 10 Mar 2025

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 accounts for nonlinearities, actuator constraints, and disturbances and is [...] Read more.

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 accounts for nonlinearities, actuator constraints, and disturbances and is validated using real operational data from the Ningbo Metro Line 7. Unlike traditional PID controllers, which are limited by their inability to handle dynamic changes and nonlinear systems, the MPC method optimizes control inputs by predicting future system behavior and adapting to variations in speed profiles. The effectiveness of the proposed MPC-based controller is demonstrated through a comparison with the PID control system already deployed on the metro line. Our results show that MPC provides superior speed tracking performance, particularly in dynamic and disturbed operating conditions, highlighting its potential advantages for real-world subway train control systems. Full article

(This article belongs to the Section Actuators for Surface Vehicles)

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22 pages, 296 KiB

Open AccessReview

Next-Generation Tools for Patient Care and Rehabilitation: A Review of Modern Innovations

by Faisal Mehmood, Nazish Mumtaz and Asif Mehmood

Actuators 2025, 14(3), 133; https://doi.org/10.3390/act14030133 - 8 Mar 2025

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 solutions to improve scientific outcomes and affected person studies. Powered through improvements [...] Read more.

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 solutions to improve scientific outcomes and affected person studies. Powered through improvements in artificial intelligence, robotics, and smart devices, these improvements are reshaping healthcare with the aid of improving therapeutic approaches and personalizing treatments. In the world of rehabilitation, robotic devices and assistive technology are supplying essential help for people with mobility impairments, promoting more independence and healing. Additionally, wearable technology and real-time tracking systems permit continuous fitness information monitoring, taking into consideration early analysis and extra effective, tailored interventions. In clinical settings, these modern-day innovations have automated diagnostics, enabled remote patient-monitoring, and brought virtual rehabilitation systems that expand the reach of clinical experts. This comprehensive review delves into the evolution, cutting-edge programs, and destiny potential of that equipment by examining their capability to deliver progressed care even while addressing growing needs for efficient healthcare solutions. Furthermore, this review explores the challenges related to their adoption, including ethical considerations, accessibility barriers, and the need for refined regulatory standards to ensure their safe and widespread use. Full article

(This article belongs to the Special Issue Intelligent Systems, Robots and Devices for Healthcare and Rehabilitation)

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19 pages, 12501 KiB

Open AccessArticle

VS-SLAM: Robust SLAM Based on LiDAR Loop Closure Detection with Virtual Descriptors and Selective Memory Storage in Challenging Environments

by Zhixing Song, Xuebo Zhang, Shiyong Zhang, Songyang Wu and Youwei Wang

Actuators 2025, 14(3), 132; https://doi.org/10.3390/act14030132 - 8 Mar 2025

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 system that leverages virtual descriptors and selective memory [...] Read more.

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 system that leverages virtual descriptors and selective memory storage to enhance LiDAR loop closure detection in challenging environments. Firstly, to mitigate the sensitivity of existing descriptors to translational changes, we propose a novel virtual descriptor technique that enhances translational invariance and improves loop closure detection accuracy. Then, to further improve the accuracy of loop closure detection in structurally similar environments, we propose an efficient and reliable selective memory storage technique based on scene recognition and key descriptor evaluation, which also reduces the memory consumption of the loop closure database. Next, based on the two proposed techniques, we develop a LiDAR SLAM system with loop closure detection capability, which maintains high accuracy and robustness even in challenging environments with structural similarity. Finally, extensive experiments in self-built simulation, real-world environments, and public datasets demonstrate that VS-SLAM outperforms state-of-the-art methods in terms of memory efficiency, accuracy, and robustness. Specifically, the memory consumption of the loop closure database is reduced by an average of 92.86% compared with SC-LVI-SAM and VS-SLAM-w/o-st, and the localization accuracy in structurally similar challenging environments is improved by an average of 66.41% compared with LVI-SAM. Full article

(This article belongs to the Special Issue Modeling, Perception and Control of Robotic Systems with Real-World Applications)

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16 pages, 3356 KiB

Open AccessArticle

Integrated Whole-Body Control and Manipulation Method Based on Teacher–Student Perception Information Consistency

by Shuqi Liu, Yufeng Zhuang, Shuming Hu, Yanzhu Hu and Bin Zeng

Actuators 2025, 14(3), 131; https://doi.org/10.3390/act14030131 - 7 Mar 2025

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 movement, we [...] Read more.

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 movement, we found that implementing a whole-body control strategy can enhance its operational capabilities. This means that the robotic dog’s legs and mechanical arms can be synchronously controlled, thus expanding its working range and mobility, allowing it to flexibly enter and exit small spaces. To this end, we propose a framework that can utilize visual information to provide feedback for whole-body control. Our method combines low-level and high-level strategies: the low-level strategy utilizes all degrees of freedom to accurately track the body movement speed of the robotic dog and the position of the end effector of the robotic arm; the advanced strategy is based on visual input, intelligently planning the optimal moving speed and end effector position. At the same time, considering the uncertainty of visual guidance, we integrate fully supervised learning into the advanced strategy to construct a teacher network and use it as a benchmark network for training the student network. We have rigorously trained these two levels of strategies in a simulated environment, and through a series of extensive simulation validations, we have demonstrated that our method has significant improvements over baseline methods in moving various objects in a small space, facing different configurations and different target objects. Full article

(This article belongs to the Special Issue Design and Application of Actuators with Multi-DOF Movement-2nd Edition)

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18 pages, 822 KiB

Open AccessArticle

Fuzzy Course Tracking Control of Unmanned Surface Vehicle with Actuator Input Quantization and Event-Triggered Mechanism

by Qifu Wang, Chenchen Jiang, Jun Ning, Liying Hao and Yong Yin

Actuators 2025, 14(3), 130; https://doi.org/10.3390/act14030130 - 7 Mar 2025

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 technology to mitigate the computational complexity expansion of virtual [...] Read more.

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 technology to mitigate the computational complexity expansion of virtual control laws. A fuzzy logic system can be used to approximate the uncertainties in the control system. The control system’s control inputs are quantized by using uniform quantizers. Then, the event-triggered adaptive fuzzy quantization control method is introduced, which can reduce the frequency of control actions and effectively reduce the communication burden. The stability of the control system is rigorously proven using Lyapunov stability theory, ensuring that all signals in the closed-loop system remain bounded. Finally, simulation tests are used to show the algorithm’s efficiency and usefulness. Full article

(This article belongs to the Special Issue Control System of Autonomous Surface Vehicle)

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19 pages, 4821 KiB

Open AccessArticle

Modelling, Control Design and Inclusion of Articulated Robots in Cyber-Physical Factories

by Květoslav Belda, Lukáš Venkrbec and Jan Jirsa

Actuators 2025, 14(3), 129; https://doi.org/10.3390/act14030129 - 6 Mar 2025

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 concept. The proposed methods are [...] Read more.

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 concept. The proposed methods are presented herein, from the modelling of kinematics and dynamics considering ideal rigid bodies and principles of classical mechanics, to their application in the design of conventional cascade control and advanced model-based control and use within commercial software tools. The paper demonstrates the modelling principles adapted for control design where a specific novel hierarchical control configuration is outlined. There is an introduction of possible software tools such as Simscape, Robotics Systems Toolbox, RT Toolbox, CIROS and others. It includes the specific aim of the rapid prototyping of robot motion control, which is intended for user development and tuning. In conjunction with conveyor belts, robots-manipulators are essential for cyber-physical factories built on the concept of Industry 4.0. The concept of Industry 4.0 is discussed in respect to the proposed algorithms and software means. Full article

(This article belongs to the Section Actuators for Manufacturing Systems)

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16 pages, 4776 KiB

Open AccessArticle

Integrated Analytical Modeling and Numerical Simulation Framework for Design Optimization of Electromagnetic Soft Actuators

by Hussein Zolfaghari, Nafiseh Ebrahimi, Yuan Ji, Xaq Pitkow and Mohammadreza Davoodi

Actuators 2025, 14(3), 128; https://doi.org/10.3390/act14030128 - 6 Mar 2025

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 out for their fast response, simple [...] Read more.

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 out for their fast response, simple control mechanisms, and compact design. Analytical and experimental studies indicate that smaller ESAs enhance the force per unit cross-sectional area (F/CSA) without compromising force efficiency. This work uses the magnetic vector potential (MVP) to calculate the magnetic field of an ESA, which is then used to derive the actuator’s generated force. A mixed integer non-linear programming (MINLP) optimization framework is introduced to maximize the ESA’s F/CSA. Unlike prior methods that independently optimized parameters, such as ESA length and permanent magnet diameter, this study jointly optimizes these parameters to achieve a more efficient and effective design. To validate the proposed framework, finite element-based COMSOL 5.4 is used to simulate the magnetic field and generated force, ensuring consistency between MVP-based calculations and the physical model. Additionally, simulation results demonstrate the effectiveness of MINLP optimization in identifying the optimal design parameters for maximizing the F/CSA of the ESA. The data and code are available at GitHub Repository. Full article

(This article belongs to the Special Issue From Theory to Practice: Incremental Nonlinear Control)

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16 pages, 4901 KiB

Open AccessArticle

Thermal Characterization of Ceramic Composites for Optimized Surface Dielectric Barrier Discharge Plasma Actuators

by Kateryna O. Shvydyuk, Frederico F. Rodrigues, João Nunes-Pereira, José C. Páscoa and Abílio P. Silva

Actuators 2025, 14(3), 127; https://doi.org/10.3390/act14030127 - 6 Mar 2025

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 restricted to borosilicate glass and various polymers, such as Teflon^® [...] Read more.

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 restricted to borosilicate glass and various polymers, such as Teflon^® and Kapton^®. Nevertheless, new materials capable of withstanding prolonged exposure to charged particles are needed. In this work, Y₂O₃-ZrO₂, MgO-CaZrO₃, and MgO-Al₂O₃ ceramic samples were manufactured and their thermal properties as DBD plasma actuators were measured. As foreseen, the results showed that the higher the power consumed, the higher the temperature surface of the plasma actuators. The Y₂O₃-ZrO₂ dielectric showed the highest power consumption and ceiling temperatures (20.7 W and 155 °C at 10 kVpp, respectively), followed by MgO-CaZrO₃ (9.6 W and 62 °C at 10 kVpp, respectively) and by MgO-Al₂O₃ (5.6 W and 47 °C at 10 kVpp, respectively). It was concluded that MgO-Al₂O₃ presented stable magnitudes across the entire dielectric area, whilst Y₂O₃-ZrO₂ showed a more concentrated temperature field. Therefore, considering that about 65 to 95% of the total power supplied to the DBD plasma actuator is dissipated as heat, it becomes natural to propose ceramic-based DBD plasma actuators as de-/anti-icing means for aero-dynamic structures. Full article

(This article belongs to the Section Aerospace Actuators)

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13 pages, 2500 KiB

Open AccessArticle

Innovative Device to Control Self-Induced Instabilities Associated with the Swirling Flow from the Discharge Cone of Hydraulic Turbines

by Constantin Tănasă, Adrian Ciprian Stuparu, Alin Bosioc, Cristina Terteci, George Belgiu and Sorin Nanu

Actuators 2025, 14(3), 126; https://doi.org/10.3390/act14030126 - 6 Mar 2025

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 involving an axial [...] Read more.

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 involving an axial jet of water. The minor disadvantage of this method was the high value of the flow rate of the water jet. Our present work focuses on another method that decreases the value of the flow rate of the jet. In this sense, a new device has been developed that produces a pulsating water jet, which mitigates the pressure fluctuations associated with the swirling flows. The objective of this paper is to use our experimental test rig to validate the efficiency of a pulsating water jet in mitigating the vortex rope. To perform that, pressure measurements were carried out at four test levels to evaluate the pressure amplitude evolution when the pulsating jet was deployed. From preliminary investigations, the results indicate that this method leads to a decrease of the pressure amplitude of the vortex rope, with a lower value of the flow rate of the jet. Full article

(This article belongs to the Special Issue Flow Control and Beyond Enhancing Performance and Energy Efficiency in Complex Fluid System)

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23 pages, 4921 KiB

Open AccessArticle

Inverse System Decoupling Control of Composite Cage Rotor Bearingless Induction Motor Based on Support Vector Machine Optimized by Improved Simulated Annealing-Genetic Algorithm

by Chengling Lu, Junhui Cheng, Qifeng Ding, Gang Zhang, Jie Fang, Lei Zhang, Chengtao Du and Yanxue Zhang

Actuators 2025, 14(3), 125; https://doi.org/10.3390/act14030125 - 5 Mar 2025

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 machine (SVM) optimized by the improved simulated annealing-genetic [...] Read more.

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 machine (SVM) optimized by the improved simulated annealing-genetic algorithm (ISA-GA) is proposed. First, based on the structure and working principle of CCR-BIM, the mathematical model of CCR-BIM is derived, and its reversibility is rigorously analyzed. Subsequently, an SVM regression equation is established, and the SVM kernel function parameters are optimized using the ISA-GA to train a high-precision inverse system decoupling control model. Finally, the inverse system is cascaded with the original system to construct a pseudo-linear system model, achieving linearization and decoupling control of CCR-BIM. To verify the effectiveness and practicability of the proposed decoupling control strategy, the proposed control method is compared with the traditional inverse system decoupling control strategy through simulation and experimentation. Both simulation and experimental results demonstrate that the proposed decoupling control strategy can effectively achieve decoupling control of rotor displacement, rotational speed, and flux linkage in CCR-BIM. Full article

(This article belongs to the Section Control Systems)

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20 pages, 5404 KiB

Open AccessArticle

Design and Optimization of the Bionic Flexible Gripper Based on Magnetically Sensitive Rubber

by Xianhua Bian, Yu Ding, Rui Li, Mengjie Shou and Pingan Yang

Actuators 2025, 14(3), 124; https://doi.org/10.3390/act14030124 - 5 Mar 2025

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 flexible finger, which can lead to potential interference or damage [...] Read more.

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 flexible finger, which can lead to potential interference or damage to other electronic components in the working environment and an inability to simultaneously ensure safety and gripping performance. In this paper, we propose an integrated magnetically controlled bionic flexible gripper that combines the excitation device and the flexible finger. We derive a formula for calculating the magnetic field generated by the excitation device, model and simulate the device, and find that the optimal magnetic field effect is achieved when the core-to-coil size ratio is 1:5. Additionally, we fabricated flexible fingers with different NdFeB volume ratios and experimentally determined that a volume ratio of 20% yields relatively better bending performance. The integrated magnetically controlled bionic flexible gripper described in this paper can adaptively grasp items such as rubber, column foam, and electrical tape, achieving maximum grasping energy efficiency of 0.524 g per millitesla (g/mT). These results highlight its potential advantages in applications such as robotic end-effectors and industrial automatic sorting. Full article

(This article belongs to the Special Issue Advancement in the Design and Control of Robotic Grippers—Second Edition)

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15 pages, 2986 KiB

Open AccessArticle

Fault-Tolerant Control of Multi-Clamp Disc Elevator Brakes with Fixed-Time Convergence

by Yefeng Jiang, Wanbin Su, Ke Li, Yuan Zhou and Jing Zhou

Actuators 2025, 14(3), 123; https://doi.org/10.3390/act14030123 - 4 Mar 2025

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 actuator in a multi-caliper disc elevator brake system with [...] Read more.

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 actuator in a multi-caliper disc elevator brake system with actuator faults is conducted. Subsequently, a nonsingular terminal sliding mode fault-tolerant control scheme with rapid fixed-time convergence is proposed, where the settling time is independent of the system’s initial state and can be preset through design parameters. The upper bound of the convergence time is derived using Lyapunov theory, ensuring that the faulty elevator brake control system converges within a predetermined fixed time. Ultimately, theoretical analysis and numerical simulation results confirm that the proposed controller can effectively handle the effects of actuator faults, parametric uncertainties, and external disturbances, ensuring satisfactory tracking accuracy. Full article

(This article belongs to the Section Control Systems)

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