This study develops a hierarchical framework for large-scale robotic swarm shape formation. At the upper level, reinforcement-learning-based probabilistic swarm guidance (RLPSG) uses proximal policy optimization (PPO) to learn target-specific transit...
The paper deals with the development of a model-based optimization framework for the design of power management strategies of a lightweight compound helicopter unmanned aerial vehicle (UAV) equipped with hybrid propulsion, with a focus on the transit...
This paper implements and evaluates closed-loop semi-active control for a magnetorheological elastomer (MRE) engine mount, going beyond passive-state comparisons. An on-off Skyhook law proposed for an MRE seat suspension is adapted to a reduced-order...
Four-wheel steer-by-wire vehicles enable independent steering actuation at each corner, providing greater control flexibility for coordinated vehicle motion and path following. However, finite actuator dynamics and local steering loads can affect the...
Over the past two decades, Ultrasonic Fatigue Testing (UFT) at 20 kHz has become a widely used methodology for investigating the fatigue behavior of critical metallic components, such as aircraft engine blades, under combined low-cycle and high-cycle...
Practical fixed-time backstepping control of uncertain electro-hydraulic position servo systems must address derivative-related terms induced by low-order nonsmooth virtual controls while ensuring a settling-time bound independent of the initial cond...
Coppicing operations for Salix psammophila are commonly conducted on markedly uneven terrain and under highly variable cutting loads. Under these conditions, the hydraulic manipulator is susceptible to hydraulic parameter variations and external dist...
The rapid expansion of artificial intelligence and data centers increases electricity demand and the need for reliable distribution transformers. Total winding loss alone does not characterize the magnitude or location of localized loss concentration...
Motion cueing algorithms reproduce the perceived motion of vehicles within the limited workspace of driving and flight simulators. Nine-DoF simulators enlarge this workspace considerably yet expose three difficulties: rectangular task space envelopes...
Deep reinforcement learning (DRL) has emerged as a key technology to solve navigation tasks of an autonomous mobile robot (AMR) in dynamic environments due to its adaptability to complex decision-making problems. This study aims to develop a DRL meth...
Snake robots are plagued by a critical bottleneck in attaining high-precision regulation of both velocity magnitude and movement direction amid kinematic coupling during gait execution. To address this challenge, this paper formulates a hybrid contro...
Ostriches are the fastest bipedal terrestrial animals. Their hip, knee, and ankle joints possess inherent shock-absorbing capabilities, endowing their legs with excellent compliance. This biomechanical feature ensures both stability and high energy e...
Artificial intelligence (AI)-based control is gaining increasing attention in electrical-machine drives as a means of approximating nonlinear control laws through data-driven learning. Neural behavioral cloning provides a practical framework for repr...
This work presents the functional enhancement of a previously developed miniature robot actuated by 3D-printed piezoelectric resonators through the integration of environmental and spatial sensors and the experimental comparison of proportional-deriv...
Surrounding vehicles may misjudge an autonomous vehicle’s intended motion and yield or merge at the wrong time. These conflicts are difficult to test systematically when surrounding vehicles’ expectations cannot be varied separately from...
Dielectric elastomer actuator (DEA)-driven capsule robots convert periodic excitations into net translation through passive constraints, yet a systematic study on optimal constraint design remains largely unexplored. To address this gap, we present a...
Traditional 3-RRS and 3-RPS mechanisms adopt open-chain limbs, where R, P, and S denote revolute, prismatic, and spherical joints, respectively. Although these mechanisms are widely used, they suffer from insufficient stiffness and accuracy under hea...
This study presents analytical modeling and numerical simulation of a double-adjustable magnetorheological (MR) recoil damper combining a field-controlled inner valve, an effectively field-free bypass, and a pressure-actuated lid. A quasi-steady hydr...
This paper addresses the asymptotic tracking control problem for a class of nonaffine pure-feedback nonlinear systems with partially unknown internal dynamics. Traditional backstepping control is plagued by the notorious complexity explosion arising...
To address the challenges of non-smooth reference force commands, uncertain nonlinear dynamics, and external load disturbances in electro-hydraulic servo systems (EHSSs), this study proposes an adaptive nonsingular terminal sliding mode control (ANTS...
Levitation control of high-speed maglev trains requires accurate state perception and effective suppression of composite disturbances. This paper proposes a composite levitation control strategy combining multi-sensor fusion, intelligent parameter op...
To statically reproduce the continuously distributed centrifugal load on metallic blades of rotating machinery, an electromagnetic loading method using a non-uniform double-sided linear induction motor is proposed. The method utilizes eddy currents i...
Speed ripple attenuation in geared flexible drives requires control of synchronous components and residual fluctuations within an existing embedded control architecture. This paper develops a five-state delay-coordinate predictive damping controller...
To characterize the dynamic behavior of the hydraulic system of a ground coal-bunker cleaning device under variable operating conditions, a mechanical–hydraulic co-simulation model was established by coupling ADAMS and AMESim. A pipeline pressu...
To address the problems of cable slackness and non-smooth cable-tension variation curves during the motion of an antagonistic cable-driven parallel robot (CDPR), this paper focuses on a three-degree-of-freedom (DOF) redundantly constrained CDPR. Firs...
The azimuth axis of a two-gimbal electro-optical stabilized platform is susceptible to nonlinear friction torque, external disturbances, and parameter variations during line-of-sight stabilization. To address these issues, an improved Twin Delayed De...
Point-of-care electroanalytical platforms for viable bacteria detection require local incubation and temperature control while maintaining compatibility with microfluidic handling and optical detection. This work presents a thin-film MEMS-based Syste...
Although soft actuators offer compliance and adaptability, their nonlinear multiphysics dynamics, hysteresis, and material-dependent behavior create substantial challenges for accurate modeling and control [...]
Robotic physical interaction tasks require both compliance and load-bearing capacity. This review surveys variable stiffness method (VSM) based on mechanical and non-mechanical adjustment, with direct modulation of the equivalent physical stiffness a...
The reliability and safety of modern industrial applications demand efficient fault detection and isolation (FDI) systems. Unfortunately, traditional diagnostic techniques are often highly sensitive to measurement noise, leading to frequent false ala...
Excavator swing systems typically suffer from significant throttling losses and braking energy waste during frequent acceleration and deceleration, resulting in low energy efficiency. To address these issues, an electro-hydraulic hybrid drive swing s...
This paper investigates a strongly nonlinear system with coupled time-varying parameters related to vehicle speed and adhesion coefficient, as well as repetitive disturbances under practical industrial operating conditions. A fuzzy tracking control s...
In electrohydraulic operation benches (EHOB), one of the significant challenges of advancing toward intelligent control is ensuring operational safety under time-varying constraints, where excessive position or velocity may cause mechanical damage or...
To address the problems of inferior-quality data and excessive PSF post-corrections in practical LPV safety control, this paper proposes a safe Q-learning control method integrated with influence function and PSF correction feedback. First, an influe...
PID control is widely adopted in fast-forging press hydraulic systems. However, it often fails to deliver satisfactory performance under variable operating conditions due to its fixed control parameters. To tackle this problem, this paper proposes a...
A tilt-rotator increases the reachable workspace of a hydraulic excavator, but its configuration also changes structural load paths. This study developed a structural-load-aware work-path planner for a 14-ton excavator using nominal analytical soil l...
Electric wheel-drive actuators offer rapid and precise torque regulation, yet translating motor torque into commanded ground traction force remains challenging under deformable terrain interactions and wheel-slip constraints. This study proposes an o...
Reliable operation of photovoltaic (PV)-powered water pumping systems is essential for sustainable irrigation and water supply, particularly in remote areas where maintenance and continuous monitoring are challenging. This paper proposes a Super-Twis...
To address the limited grasping stroke (GS) of piezoelectric-actuated microgrippers, this paper proposes a novel symmetric microgripper configuration integrating reversed Scott Russell (S–R) mechanisms and differential lever amplification mecha...
Sensorless position and speed estimation methods for permanent magnet synchronous motors (PMSMs) eliminate the need for mechanical sensors, thereby reducing costs, enhancing reliability, minimizing system volume, and enabling maintenance-free operati...
Asymmetric valve-controlled asymmetric cylinder systems (AVCACSs) are key actuation components in mechatronic drive systems such as hydraulic rolling shears, yet conventional models treat hydraulic damping as a constant and neglect valve geometric as...
Soft pneumatic actuators (SPAs) are widely applied in soft robots for their good compliance and environmental adaptability. However, conventional SPAs with a single prescribed deformation mode provide limited dexterity for tasks requiring reconfigura...
Last-mile delivery robots frequently navigate pedestrian-rich local corridors, where sensing, tracking, communication, and computation delays can make pedestrian observations stale and degrade collision-risk estimation. This paper develops a delay-aw...
In this paper, an operator- and observer-based nonlinear tracking control scheme is proposed. Initially, the error-based extended state observer (eESO) is employed on the objective nonlinear plant, which addresses the compensation for perturbations l...
Constant-slope sliding surfaces require a trade-off: steep slopes improve regulation under sustained disturbance but increase transient control effort, while shallow slopes reduce effort at the expense of accuracy. We investigate a surface whose slop...
This paper investigates the asymptotic formation tracking control problem for heterogeneous multi-agent systems (HMASs) subject to external disturbances and time-varying actuator faults. A comprehensive model incorporating these uncertainties is form...
This paper proposes a fault-robust backstepping-based control strategy for induction motor (IM) drives fed by parallel-connected voltage-source inverters (VSIs). The developed control scheme is engineered to achieve precise speed tracking, optimal cu...
Accurate platform-orientation feedback is important for trajectory tracking in parallel motion platforms, but high-precision measurement systems can be costly. This study develops a low-cost inertial measurement unit (IMU)-based feedback compensation...
This work presents a sampling-based Quadratic Stability Control (QSC) framework for nonlinear mechanical systems with parametric uncertainty and compares it with a nominal Linear Quadratic Regulator (LQR). The proposed method synthesizes a single sta...
This study presents a planar particle image velocimetry (PIV) investigation of near-wall velocity deficit mitigation in a compact curved channel using sweeping jet actuation. A compact sweeping jet oscillator was developed based on a simplified fluid...
