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...
This paper presents a unified framework for high-precision dynamic target tracking that combines phase-map-based visual servoing with Model Predictive Control (MPC). Phase maps obtained from fringe projection provide dense, subpixel geometric feedbac...
In permanent magnet synchronous motor (PMSM) drive systems, the nonlinearity of the inverter and non-sinusoidal nature of back EMF generate harmonics in the stator current, resulting in torque ripple and reduced motor efficiency. Although the proport...
This paper presents a 2D micro-conveyance device based on a 3 × 3 electromagnetic digital actuator array. This device allows the conveyed object to be moved between several discrete positions distributed in the xy-plane through a collaborative...
This paper proposes the Quantum-behaved Loser Reverse-learning Differential Evolution (QLRDE) algorithm to address the inherent limitations of the standard Differential Evolution (DE) algorithm, including slow convergence speed and the premature stag...
This paper investigates the robust fault-tolerant control (FTC) problem for interval type-2 fuzzy systems (IT2FS) with simultaneous time-varying input and state delays. In order to more comprehensively capture system uncertainties, an Interval Type-2...
Traditional robust model predictive control (RMPC) strategies often face challenges of excessive conservatism and limited dynamic performance, which can hinder their effectiveness in trajectory tracking applications. To overcome these issues, this pa...
This paper presents a two-layer consistency control framework for the collaborative assembly of multiple aircraft in complex environments, comprising a low-level control layer and a high-level guidance layer. The control layer develops a robust anti-...
Achieving a balance between rapid adaptation and robustness is a critical yet challenging objective in the design of industrial control systems. Model Reference Adaptive Control (MRAC) is a standard approach for managing system uncertainties; however...
This article considers a weak disturbance decoupling control problem for strict-feedback systems with unmodeled dynamics and disturbances. Utilizing a series of inequalities, the unmodeled dynamic is approximated. Using an adaptive backstepping contr...
Balancing path-following accuracy and error convergence with graceful motion in steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds and conditions. This paper demonstrates t...
This paper presents a virtual reference-based preview semi-active suspension system using a Magneto-Rheological (MR) damper to improve ride comfort when traversing bumps. The algorithm is designed to track the virtual reference profile of the vehicle...
This study presents a comprehensive thermo-structural and modal analysis of a ball screw assembly. Thermal analysis revealed a maximum temperature of 29.1 °C at the ball nut, corresponding to a total rise of 7.1 °C above ambient. The resultin...
This study quantitatively analyzed the effects of repetitive fault currents occurring in an accelerator environment on the breaking performance of molded-case circuit breakers (MCCBs). To this purpose, four MCCB samples are subjected to one, two, and...
Aiming to address the safety and stability issues caused by typical faults of Unmanned Aerial Vehicle (UAV) navigation sensors, a novel fault-tolerant method is proposed, which can capture the temporal dependencies of fault feature evolution, and com...
Hydraulic thrust cylinders in hard-rock tunnel boring machines (TBMs) often exhibit slow response and sluggish acceleration during start-up, which degrades early-stage tracking performance and limits overall operational accuracy. Most existing studie...
To address the issue of voice leakage during the rapid deployment of meeting rooms, a piezoelectric flexible interference structure (PFIS) for active sound masking is developed in this paper. The PFIS uses rubber as the base, allowing it to bend or f...
Tunnel boring machine (TBM) hydraulic cylinders operate under pronounced start–stop shocks and load uncertainties, making it difficult to simultaneously achieve smooth start-up and high-precision tracking. This paper proposes a two-phase switch...
Due to a number of advantages, such as the high power-to-weight ratio of the system, the possibility of easy control and the freedom of arrangement of the system components on the machine, hydrostatic drive is one of the most popular methods of machi...
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