Search Results (42)

This paper presents a novel dynamic modeling framework for gantry crane systems based on the cart double pendulum with dual cables (CDPD) model. The CDPD model systematically incorporates the effects of dual suspension cables, equalizer beams, and closed-chain kinematic constraints, enabling an accurate simulation of both symmetric and asymmetric lifting scenarios. Utilizing Kane’s method, the model efficiently handles redundant coordinates and holonomic constraints, resulting in a compact and numerically robust formulation. Validation results demonstrate strict energy conservation and consistency with traditional models in limiting cases. The proposed approach provides a unified and extensible foundation for the advanced analysis, control, and optimization of large-scale gantry crane operations. Full article

This study is the first to systematically integrate supervised machine learning (decision tree) and association rule mining techniques to analyze accident data from the Taipei Metro system, conducting a large-scale data-driven investigation into both passenger injury and train malfunction events. The research demonstrates strong novelty and practical contributions. In the passenger injury analysis, a dataset of 3331 cases was examined, from which two highly explanatory rules were extracted: (i) elderly passengers (aged > 61) involved in station incidents are more likely to suffer moderate to severe injuries; and (ii) younger passengers (aged ≤ 61) involved in escalator incidents during off-peak hours are also at higher risk of severe injury. This is the first study to quantitatively reveal the interactive effect of age and time of use on injury severity. In the train malfunction analysis, 1157 incidents with delays exceeding five minutes were analyzed. The study identified high-risk condition combinations—such as those involving rolling stock, power supply, communication, and signaling systems—associated with specific seasons and time periods (e.g., a lift value of 4.0 for power system failures during clear mornings from 06:00–12:00, and 3.27 for communication failures during summer evenings from 18:00–24:00). These findings were further cross-validated with maintenance records to uncover underlying causes, including brake system failures, cable aging, and automatic train operation (ATO) module malfunctions. Targeted preventive maintenance recommendations were proposed. Additionally, the study highlighted existing gaps in the completeness and consistency of maintenance records, recommending improvements in documentation standards and data auditing mechanisms. Overall, this research presents a new paradigm for intelligent metro system maintenance and safety prediction, offering substantial potential for broader adoption and practical application. Full article

Electric submersible pumps (ESPs) are critical for artificial lift operations; however, they are prone to frequent failures, often resulting in high operational costs and production downtime. Traditional ESP failure classifications are limited by lack of standardization and the conflation of failure modes with root causes. To address these limitations, this study proposes a new two-step integrated failure modes and root cause (IFMRC) classification system. The new framework clearly distinguishes between failure modes and root causes, providing a systematic, structured approach that enhances fault diagnosis and failure analysis and can lead to better failure prevention strategies. This methodology was validated using a case study of over 4000 ESP installations. The data came from Egypt’s Western Desert, covering a decade of operational data. The sources included ESP databases, workover records, and detailed failure investigation (DIFA) reports. The failure modes were categorized into electrical, mechanical, hydraulic, chemical, and operational types, while root causes were linked to environmental, design, operational, and equipment factors. Statistical analysis, in this case study, revealed that motor short circuits, low flow conditions, and cable short circuits were the most frequent failure modes, with excessive heat, scale deposition, and electrical grounding faults being the dominant root causes. This study underscores the importance of accurate root cause failure classification, robust data acquisition, and expanded failure diagnostics to improve ESP reliability. The proposed IFMRC framework addresses limitations in conventional taxonomies and facilitates ongoing enhancement of ESP design, operation, and maintenance in complex field conditions. Full article

This study analyzes the dynamic response of a floating dual vertical-axis tidal turbine platform under extreme environmental loads, focusing on two different mooring systems as follows: taut and catenary. The analysis assumes a non-operational turbine state where power generation is stopped, and the vertical turbines are lifted for structural protection. Using time-domain simulations via OrcaFlex 11.4, the floating platform’s motion and mooring line effective tensions are evaluated under high waves, strong wind, and current loads. The results reveal that sway and heave motions are significantly influenced by wave excitation, with the catenary system exhibiting larger responses due to mooring system features, while the taut system experiences higher mooring effective tension but shows more restrained motion. Notably, in the roll direction, both systems exhibit peak frequencies unrelated to the wave spectrum, attributed instead to resonance with the system’s natural frequencies—0.12438 Hz for taut and 0.07332 Hz for catenary. Additionally, the failure scenario of ML02 (Mooring Line 02) and the application of dynamic power cables to the floating platform are analyzed. The results demonstrate that under non-operational and extreme load conditions, mooring system type plays a main role in determining platform stability and structural safety. This comparative analysis offers valuable insights for selecting and designing mooring configurations optimized for reliability in extreme environmental conditions. Full article

Aiming at the problems of excessive dependence on manual operations, unquantifiable parameters, low hoisting efficiency, and low level of automation and informatization in the lifting process of spacecraft, a novel cable-driven parallel automatic leveling robot with a two-stage adjustment function is proposed. It contains a cable-driven parallel mechanism and a counterweight compensation mechanism and has the advantages of high load-bearing capacity and better posture adjustment. Its kinematics and leveling performance are studied systematically. First, a geometric model of the robot is established, and the inverse position is derived. Second, the system’s eccentric coordinates are solved based on the inclination angles of the moving platform. A theoretical model of the cable adjustment length is established according to the eccentric coordinates, and the cable adjustment scheme is analyzed and optimized. Third, according to the optimal cable adjustment scheme, the relationship between the inclination angles and the counterweight’s adjustment displacement is established to better improve the leveling accuracy based on the force and torque balance principle. Finally, the kinematics and leveling performance are verified through MATLAB numerical calculations, ADAMS simulation, and experimental study, proving that the robot could realize the hoisting and leveling task. Full article

To address distributed mass payload (DMP) anti-swing control problems typified by offshore wind turbine blades, this paper adopts multi-body dynamics and rigid-flexible coupling modelling approaches. It derives the geometric constraints and static equilibrium equations for marine crane multipoint lifting of DMP, and establishes a dynamic coupling model considering ship roll and pitch environmental excitations. Then, under the maximum environmental excitation set in the experiment, the flexible cable parallel anti-swing system achieves swing suppression rates of 41.0% and 58.0% for the in-plane and out-of-plane angles of the DMP with regular geometric shape and mass distribution, respectively. For the DMP with irregular geometry and mass distribution, the suppression rates are 48.4% and 39.3% for the in-plane and out-of-plane angles, respectively. It is found that, after adjusting the lifting method and increasing the distance between the lifting points, the maximum in-plane angle of the payload decreases by 2.3%, while the out-of-plane angle maximum decreases by 52.0%. These results demonstrate the effectiveness of adjusting lifting methods in suppressing swing for irregular DMPs, thereby verifying the reliability and applicability of the flexible cable parallel anti-swing system and providing a reference for improving anti-swing performance and lifting efficiency in offshore DMP operations. Full article

The construction of high-rise buildings necessitates efficient and reliable material transport systems to improve productivity and reduce labor-intensive tasks. Traditional methods such as cranes and elevators are widely used but are often constrained by high costs and spatial limitations. Manipulator-based robotic systems have been explored as alternatives; however, they require complex control algorithms and struggle with confined construction environments. To address these challenges, we propose a lifting robot designed for repetitive inter-floor material transport in construction sites. The proposed system integrates a gear-connected double parallelogram linkage with a crank-rocker mechanism, enabling one-degree of freedom (1-DOF) operation for simplified control and precise positioning. Additionally, a spring-cable-based gravity compensation mechanism is implemented to reduce actuator torque, enhancing energy efficiency and structural stability. A prototype was fabricated, and experimental validation was conducted to evaluate torque reduction, positioning accuracy, and structural performance. Results demonstrate that the proposed system effectively minimizes driving torque, improves load-handling stability, and enhances overall operational efficiency. This study provides a foundation for developing automated lifting solutions in construction, contributing to reduced worker strain and increased productivity. Full article

The construction industry faces a growing need for automation to reduce costs, improve accuracy and productivity, and address labor shortages. One area that stands to benefit significantly from automation is panelized prefabricated building envelope retrofits, which can improve a building’s energy efficiency in heating and cooling interior spaces. In this paper, we propose using cable-driven parallel robots (CDPRs), which can effectively lift and handle large objects, to install these panels. However, implementing CDPRs presents significant challenges because of their nonlinear dynamics, complex trajectory planning, and precise control requirements. To tackle these challenges, this work focuses on a new application of established control and trajectory optimization theories in a CDPR simulation of a building envelope retrofit under real-world conditions. We first model the dynamics of CDPRs, highlighting the critical role of damping in system behavior. Building on this dynamic model, we formulate a trajectory optimization problem to generate feasible and efficient motion plans for the robot under operational and environmental constraints. Given the high precision required in the construction industry, accurately tracking the optimized trajectory is essential. However, challenges such as partial observability and external vibrations complicate this task. To address these issues, a Linear Quadratic Gaussian control framework is applied, enabling the robot to track the optimized trajectories with precision. Simulation results show that the proposed controller enables precise end effector positioning with errors under 4 mm, even in the presence of external wind disturbances. Through comprehensive simulations, our approach allows for an in-depth exploration of the system’s nonlinear dynamics, trajectory optimization, and control strategies under controlled yet highly realistic conditions. The results demonstrate the feasibility of CDPRs for automating panel installation and provide insights into their practical deployment. Full article

Amid the rapid advancement of electronic information technology, the need for cable eccentricity measurement in the industry is increasing both in China and across the globe. Current detection methods have several flaws, including high costs, insufficient accuracy, and instability. In this paper, we introduce a magnetic field-based detection method for cable eccentricity that provides high precision and cost-effectiveness. We position three pairs of magnetic field-collection modules in a circular array to gather magnetic flux density information induced by the electrified cable. We apply the law of electromagnetic induction to calculate the cable eccentricity. Our method is non-contact, preserving the cable’s integrity. Our method outperforms traditional detection methods, not only in achieving greater accuracy and stability but also in significantly lowering the detection cost. Simulations and experiments show that our method’s error rate under specified conditions is 0~4%, with a maximum standard deviation of 0.11, confirming its precision and stability in detecting cable eccentricity. The effectiveness of our method is influenced by two factors: lift-off value and loading current intensity. Our method presents a novel concept and a dependable strategy for the progress of cable eccentricity-detection technology. Full article

In response to the non-linear and underactuated characteristics of quadrotor UAV suspension transportation system, this paper proposes a novel control strategy aimed at achieving precise position control, attitude control, and anti-swing capabilities. Firstly, a dynamical model required for controller design is established through the Newton-Euler method. In the controller design process, the paper employs the energy method and barrier Lyapunov function to design a double-closed-loop nonlinear controller. This controller is capable of not only accurately controlling the position and attitude angles of the quadrotor UAV suspension transportation system but also effectively suppressing the swing of the payload. Building on this, considering the elastic deformation of the lifting cable, and by analyzing the forces in the Newton-Euler equations, this paper proposes an adaptive control design for the case where the length of the cable connecting the UAV and the payload is unknown. To validate the effectiveness of the proposed control scheme, comparative experiments were conducted in the MATLAB simulation environment, and the results indicate that the method proposed in this paper exhibits superior control performance compared to traditional controllers. Full article

Novel vehicle concepts are needed to meet the requirements of resource-conserving and efficient mobility in the future, especially in urban areas. In the automated, driverless electric vehicle concept U-Shift, a new form of mobility is created by separating a vehicle into a drive module and a transport capsule. The autonomous driving module, the so-called Driveboard, is able to change the transport capsules independently and is therefore used to transport both people and goods. The wide range of possible capsules poses major challenges for the development of the Driveboard and the chassis in particular. A lifting actuator integrated into the chassis concept enables levelling and, thus, the raising and lowering of the Driveboard and the capsules to ground level. This means that no additional lifting devices are required for changing the capsules or for lowering them to the ground, e.g., for loading and unloading the capsules. To realise this mechanism simply and efficiently, a fully electromechanical actuator is designed and constructed. The actuator consists primarily of a profile rail guide, a steel cable winch, an electric motor, a housing that connects the subsystems and a locking mechanism. The electric motor is used to lift the vehicle and regulate the weight force-driven lowering of the vehicle. This paper describes the design of the actuator and shows the dimensioning of all main components according to the boundary conditions. Finally, the prototype model of the realised concept is presented. Full article

The main objective of the research was to determine neuromuscular control for different external loads, from 75% to 100% 1 RM (One Rep Max), during the flat bench press (BP) exercise performed with free weights and pneumatic loading. Despite extensive research on the internal structure of the BP exercise, few studies have examined the differences between muscular activity during the flat bench press movement between Free Weights and Pneumatic Loading. For this purpose, 10 male, trained subjects performed the BP exercise under two conditions with three different external loads (70%, 85%, and 100% 1RM), alternately with free weights and pneumatic loading. Pneumatic loading was performed on the Keiser Power Rack, where the pneumatic load was transferred as the resistance of the cables attached to the ground. EMG activity was recorded during the lifts for the following muscles: PM (Pectoralis Major), AD (Anterior Deltoid), Tblat, and TBlong (Triceps Brachii). The EMG signals were sampled at a rate of 1000 Hz. Signals were band-pass filtered with a cutoff frequency of 8 Hz and 450 Hz, after which the root-mean-square (RMS) was calculated. After completion of all the tests in a single day, 2–3 s evaluations of Maximal Voluntary Isometric Contraction (MVIC) of the prime movers in the bench press movement (AD, PM, and TBlong) were performed according to SENIAM procedures. The results of the present study indicate that pneumatic loading provides a significantly different muscle activation pattern compared to a standard bar during a heavy-loaded BP exercise. The pneumatic load was superior in activating the AD and TB muscles compared to the standard bar during the BP exercise. Full article

Most commercial elevators for buildings exceeding four stories use a cable-driven traction system. Typically, a single traction machine operates by hoisting the main cable on a traction sheave, thus vertically transporting the elevator car through rotational motion of the sheave. This research introduces a groundbreaking advancement aimed at elevating loading capacity to an unprecedented 50 tons—the highest known in the world. The innovation involves the development of a twin traction system, wherein two traction machines collaborate to lift the elevator. This novel elevator system has demonstrated remarkable capabilities, showcasing the ability to transport up to 300 passengers in a single trip. The installation of this high-capacity elevator system has yielded substantial improvements in construction work efficiency and safety protocols, particularly in scenarios where cranes are traditionally used. The newly developed elevator could lift 50 tons of equipment 60 times a day, whereas the crane was limited to 8 times. The positive impact on labor is also noteworthy, with increased safety and health considerations, especially in adverse weather conditions. By eliminating the need for manual stair climbing, the well-being of the workforce is prioritized. Furthermore, the heightened productivity resulting from a significant reduction in wait times for conventional elevators is a key outcome of this transformative technology. This research not only unveils a groundbreaking twin traction system but also highlights its multifaceted features in enhancing efficiency, safety, and overall productivity in various industries. Full article

The light weight and compliance of exosuits are valuable benefits not present rigid exoskeleton devices, yet these intriguing features make it challenging to properly model and simulate their interaction with the musculoskeletal system. Tendon-driven exosuits adopt an electrical motor combined with pulleys and cable transmission in the actuation stage. An important aspect of the design of these systems for the load transfer efficacy and comfort of the user is the anchor point positioning. In this paper, we propose a framework, whose first purpose is as a design methodology for the synthesis of an exosuit device, achieved by optimizing the anchor point location. The optimization procedure finds the best 3D position of the anchor points based on the interaction forces between the exosuit and the upper arm. The computation of the forces is based on the combination of a mathematical model of a wrist–elbow exosuit and a dynamic model of the upper arm. Its second purpose is the simulation of the kinematic and physiological effects of the interaction between the arm, the exosuit, and the complex upper limb musculoskeletal system. It offers insights into muscular and exoskeleton loading during operation. The presented experiments involve the development and validation of personalized musculoskeletal models, with kinematic, anthropometric, and electromyographic data measured in a load-lifting task. Simulation of the exosuit operation—coupled with the musculoskeletal model—showed the efficacy of the suit in assisting the wrist and elbow muscles and provided interesting highlights about the impact of the assistance on shoulder muscles. Finally, we provide a possible design of an elbow and wrist exosuit based on the optimized results. Full article

As important load-bearing structures, suspension cables have been widely used in suspension bridges, engineering ropeways, cable suspension systems and other special equipment. Their dynamic problems have always been a research hotspot. Especially for complex cable systems such as engineering ropeways and cable lifting equipment, there will be moving loads acting on multi-span continuous friction-slip cable structures, resulting in nonlinear coupled vibration. Therefore, few scholars have studied how to calculate the nonlinear coupling vibration effect between such moving loads and multi-span continuous cables considering friction slip. Therefore, this paper proposes the use of the combination of the direct stiffness method and the Newmark-β integration method to solve the nonlinear system of equations of motion, which can be derived from the coupled vibration response between the moving load and the main cable. The corresponding calculation program is prepared. Combined with the dynamic load test and simulation results of engineering cases, the correctness and reasonableness of the coupled vibration equations and the program can be verified through comparative analysis. The results show that the calculation results of the self-programmed program are in good agreement with the dynamic load test results, in which the maximum error of the vertical displacement in the span is −4.40% and 0.86%, and the error of the static calculation reaches −13.90%. The impact effect is more obvious when hoisting the weight out of the pulling cable, in which the impact coefficient of the main cable can be up to 2.0. The impact coefficient of the deviation of the cable tower is 4.0. During the traveling process of the moving load, the vertical downward deflection of the main cable at the action point is the largest, and the upward deflection is in the region of 0.2~0.8L from the action point. Full article