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Keywords = cable-supported systems

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27 pages, 4680 KiB  
Article
Gecko-Inspired Robots for Underground Cable Inspection: Improved YOLOv8 for Automated Defect Detection
by Dehai Guan and Barmak Honarvar Shakibaei Asli
Electronics 2025, 14(15), 3142; https://doi.org/10.3390/electronics14153142 - 6 Aug 2025
Abstract
To enable intelligent inspection of underground cable systems, this study presents a gecko-inspired quadruped robot that integrates multi-degree-of-freedom motion with a deep learning-based visual detection system. Inspired by the gecko’s flexible spine and leg structure, the robot exhibits strong adaptability to confined and [...] Read more.
To enable intelligent inspection of underground cable systems, this study presents a gecko-inspired quadruped robot that integrates multi-degree-of-freedom motion with a deep learning-based visual detection system. Inspired by the gecko’s flexible spine and leg structure, the robot exhibits strong adaptability to confined and uneven tunnel environments. The motion system is modeled using the standard Denavit–Hartenberg (D–H) method, with both forward and inverse kinematics derived analytically. A zero-impact foot trajectory is employed to achieve stable gait planning. For defect detection, the robot incorporates a binocular vision module and an enhanced YOLOv8 framework. The key improvements include a lightweight feature fusion structure (SlimNeck), a multidimensional coordinate attention (MCA) mechanism, and a refined MPDIoU loss function, which collectively improve the detection accuracy of subtle defects such as insulation aging, micro-cracks, and surface contamination. A variety of data augmentation techniques—such as brightness adjustment, Gaussian noise, and occlusion simulation—are applied to enhance robustness under complex lighting and environmental conditions. The experimental results validate the effectiveness of the proposed system in both kinematic control and vision-based defect recognition. This work demonstrates the potential of integrating bio-inspired mechanical design with intelligent visual perception to support practical, efficient cable inspection in confined underground environments. Full article
(This article belongs to the Special Issue Robotics: From Technologies to Applications)
16 pages, 2448 KiB  
Article
A Body-Powered Underactuated Prosthetic Finger Driven by MCP Joint Motion
by Worathris Chungsangsatiporn, Chaiwuth Sithiwichankit, Ratchatin Chancharoen, Ronnapee Chaichaowarat, Nopdanai Ajavakom and Gridsada Phanomchoeng
Robotics 2025, 14(8), 107; https://doi.org/10.3390/robotics14080107 - 31 Jul 2025
Viewed by 268
Abstract
This study presents the design, fabrication, and clinical validation of a lightweight, body-powered prosthetic index finger actuated via metacarpophalangeal (MCP) joint motion. The proposed system incorporates an underactuated, cable-driven mechanism combining rigid and compliant elements to achieve passive adaptability and embodied intelligence, supporting [...] Read more.
This study presents the design, fabrication, and clinical validation of a lightweight, body-powered prosthetic index finger actuated via metacarpophalangeal (MCP) joint motion. The proposed system incorporates an underactuated, cable-driven mechanism combining rigid and compliant elements to achieve passive adaptability and embodied intelligence, supporting intuitive user interaction. Results indicate that the prosthesis successfully mimics natural finger flexion and adapts effectively to a variety of grasping tasks with minimal effort. This study was conducted in accordance with ethical standards and approved by the Institutional Review Board (IRB), Project No. 670161, titled “Biologically-Inspired Synthetic Finger: Design, Fabrication, and Application.” The findings suggest that the device offers a viable and practical solution for individuals with partial hand loss, particularly in settings where electrically powered systems are unsuitable or inaccessible. Full article
(This article belongs to the Section Neurorobotics)
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21 pages, 964 KiB  
Article
A Data-Driven Strategy Assisted by Effective Parameter Optimization for Cable Fault Diagnosis in the Secondary Circuit of a Substation
by Dongbin Yu, Yanjing Zhang, Sijin Luo, Wei Zou, Junting Liu, Zhiyong Ran and Wei Liu
Processes 2025, 13(8), 2407; https://doi.org/10.3390/pr13082407 - 29 Jul 2025
Viewed by 231
Abstract
As power systems evolve rapidly, cables, essential for electric power transmission, demand accurate and timely fault diagnosis to ensure grid safety and stability. However, current cable fault diagnosis technologies often struggle with incomplete feature extraction from complex fault signals and inefficient parameter tuning [...] Read more.
As power systems evolve rapidly, cables, essential for electric power transmission, demand accurate and timely fault diagnosis to ensure grid safety and stability. However, current cable fault diagnosis technologies often struggle with incomplete feature extraction from complex fault signals and inefficient parameter tuning in diagnostic models, hindering efficient and precise fault detection in modern power systems. To address these, this paper proposes a data-driven strategy for cable fault diagnosis in substation secondary circuits, enhanced by effective parameter optimization. Initially, wavelet packet decomposition is employed to finely divide collected cable fault current signals into multiple levels and bands, effectively extracting fault feature vectors. To tackle the challenge of selecting penalty and kernel parameters in Support Vector Machine (SVM) models, an improved Golden Jackal Optimization (GJO) algorithm is introduced. This algorithm simulates the predatory behavior of golden jackals in nature, enabling efficient global optimization of SVM parameters and significantly improving the classification accuracy and generalization capability of the fault diagnosis model. Simulation verification using real cable fault cases confirms that the proposed method outperforms traditional techniques in fault recognition accuracy, diagnostic speed, and robustness, proving its effectiveness and feasibility. This study offers a novel and efficient solution for cable fault diagnosis. Full article
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29 pages, 7048 KiB  
Article
Research on Synergistic Control Technology for Composite Roofs in Mining Roadways
by Lei Wang, Gang Liu, Dali Lin, Yue Song and Yongtao Zhu
Processes 2025, 13(8), 2342; https://doi.org/10.3390/pr13082342 - 23 Jul 2025
Viewed by 202
Abstract
Addressing the stability control challenges of roadways with composite roofs in the No. 34 coal seam of Donghai Mine under high-strength mining conditions, this study employed integrated methodologies including laboratory experiments, numerical modeling, and field trials. It investigated the mechanical response characteristics of [...] Read more.
Addressing the stability control challenges of roadways with composite roofs in the No. 34 coal seam of Donghai Mine under high-strength mining conditions, this study employed integrated methodologies including laboratory experiments, numerical modeling, and field trials. It investigated the mechanical response characteristics of the composite roof and developed a synergistic control system, validated through industrial application. Key findings indicate significant differences in mechanical behavior and failure mechanisms between individual rock specimens and composite rock masses. A theoretical “elastic-plastic-fractured” zoning model for the composite roof was established based on the theory of surrounding rock deterioration, elucidating the mechanical mechanism where the cohesive strength of hard rock governs the load-bearing capacity of the outer shell, while the cohesive strength of soft rock controls plastic flow. The influence of in situ stress and support resistance on the evolution of the surrounding rock zone radii was quantitatively determined. The FLAC3D strain-softening model accurately simulated the post-peak behavior of the surrounding rock. Analysis demonstrated specific inherent patterns in the magnitude, ratio, and orientation of principal stresses within the composite roof under mining influence. A high differential stress zone (σ1/σ3 = 6–7) formed within 20 m of the working face, accompanied by a deflection of the maximum principal stress direction by 53, triggering the expansion of a butterfly-shaped plastic zone. Based on these insights, we proposed and implemented a synergistic control system integrating high-pressure grouting, pre-stressed cables, and energy-absorbing bolts. Field tests demonstrated significant improvements: roof-to-floor convergence reduced by 48.4%, rib-to-rib convergence decreased by 39.3%, microseismic events declined by 61%, and the self-stabilization period of the surrounding rock shortened by 11%. Consequently, this research establishes a holistic “theoretical modeling-evolution diagnosis-synergistic control” solution chain, providing a validated theoretical foundation and engineering paradigm for composite roof support design. Full article
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26 pages, 8299 KiB  
Article
Experimental and Numerical Study on the Temperature Rise Characteristics of Multi-Layer Winding Non-Metallic Armored Optoelectronic Cable
by Shanying Lin, Xihong Kuang, Yujie Zhang, Gen Li, Wenhua Li and Weiwei Shen
J. Mar. Sci. Eng. 2025, 13(7), 1356; https://doi.org/10.3390/jmse13071356 - 16 Jul 2025
Viewed by 203
Abstract
The non-metallic armored optoelectronic cable (NAOC) serves as a critical component in deep-sea scientific winch systems. Due to its low density and excellent corrosion resistance, it has been widely adopted in marine exploration. However, as the operational water depth increases, the NAOC is [...] Read more.
The non-metallic armored optoelectronic cable (NAOC) serves as a critical component in deep-sea scientific winch systems. Due to its low density and excellent corrosion resistance, it has been widely adopted in marine exploration. However, as the operational water depth increases, the NAOC is subjected to multi-layer winding on the drum, resulting in a cumulative temperature rise that can severely impair insulation performance and compromise the safety of deep-sea operations. To address this issue, this paper conducts temperature rise experiments on NAOCs using a distributed temperature sensing test rig to investigate the effects of the number of winding layers and current amplitude on their temperature rise characteristics. Based on the experimental results, an electromagnetic thermal multi-physics field coupling simulation model is established to further examine the influence of these factors on the maximum operation time of the NAOC. Finally, a multi-variable predictive model for maximum operation time is developed, incorporating current amplitude, the number of winding layers, and ambient temperature, with a fitting accuracy of 97.92%. This research provides theoretical and technical support for ensuring the safety of deep-sea scientific operations and improving the reliability of deep-sea equipment. Full article
(This article belongs to the Section Ocean Engineering)
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29 pages, 4726 KiB  
Article
Adaptive Pendulum-Tuned Mass Damper Based on Adjustable-Length Cable for Skyscraper Vibration Control
by Krzysztof Twardoch, Kacper Górski, Rafał Kwiatkowski, Kamil Jaśkielewicz and Bogumił Chiliński
Sustainability 2025, 17(14), 6301; https://doi.org/10.3390/su17146301 - 9 Jul 2025
Viewed by 474
Abstract
The dynamic control of vibrations in skyscrapers is a critical consideration in sustainable building design, particularly in response to environmental excitations such as wind impact or seismic activity. Effective vibration neutralisation plays a crucial role in providing the safety of high-rise buildings. This [...] Read more.
The dynamic control of vibrations in skyscrapers is a critical consideration in sustainable building design, particularly in response to environmental excitations such as wind impact or seismic activity. Effective vibration neutralisation plays a crucial role in providing the safety of high-rise buildings. This research introduces an innovative concept for an active vibration damper that operates based on fluid dynamic transport to adaptively alter a skyscraper’s natural frequency, thereby counteracting resonant vibrations. A distinctive feature of this system is an adjustable-length cable mechanism, allowing for the dynamic modification of the pendulum’s effective length in real time. The structure, based on cable length adjustment, enables the PTMD to precisely tune its natural frequency to variable excitation conditions, thereby improving damping during transient or resonance phenomena of the building’s dynamic behaviour. A comprehensive mathematical model based on Lagrangian mechanics outlines the governing equations for this system, capturing the interactions between pendulum motion, fluid flow, and the damping forces necessary to maintain stability. Simulation analyses examine the role of initial excitation frequency and variable damping coefficients, revealing critical insights into optimal damper performance under varied structural conditions. The findings indicate that the proposed pendulum damper effectively mitigates resonance risks, paving the way for sustainable skyscraper design through enhanced structural adaptability and resilience. This adaptive PTMD, featuring an adjustable-length cable, provides a solution for creating safe and energy-efficient skyscraper designs, aligning with sustainable architectural practices and advancing future trends in vibration management technology. The study presented in this article supports the development of modern skyscraper design, with a focus on dynamic vibration control for sustainability and structural safety. It combines advanced numerical modelling, data-driven control algorithms, and experimental validation. From a sustainability perspective, the proposed PTMD system reduces the need for oversized structural components by providing adaptive, efficient damping, thereby lowering material consumption and embedded carbon. Through dynamically retuning structural stiffness and mass, the proposed PTMD enhances resilience and energy efficiency in skyscrapers, lowers lifetime energy use associated with passive damping devices, and enhances occupant comfort. This aligns with global sustainability objectives and new-generation building standards. Full article
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12 pages, 17214 KiB  
Technical Note
A Prototype Crop Management Platform for Low-Tunnel-Covered Strawberries Using Overhead Power Cables
by Omeed Mirbod and Marvin Pritts
AgriEngineering 2025, 7(7), 210; https://doi.org/10.3390/agriengineering7070210 - 2 Jul 2025
Viewed by 335
Abstract
The continuous and reliable operation of autonomous systems is important for farm management decision making, whether such systems perform crop monitoring using imaging systems or crop handling in pruning and harvesting applications using robotic manipulators. Autonomous systems, including robotic ground vehicles, drones, and [...] Read more.
The continuous and reliable operation of autonomous systems is important for farm management decision making, whether such systems perform crop monitoring using imaging systems or crop handling in pruning and harvesting applications using robotic manipulators. Autonomous systems, including robotic ground vehicles, drones, and tractors, are major research efforts of precision crop management. However, these systems may be less effective or require specific customizations for planting systems in low tunnels, high tunnels, or other environmentally controlled enclosures. In this work, a compact and lightweight crop management platform is developed that uses overhead power cables for continuous operation over row crops, requiring less human intervention and independent of the ground terrain conditions. The platform does not carry batteries onboard for its operation, but rather pulls power from overhead cables, which it also uses to navigate over crop rows. It is developed to be modular, with the top section consisting of mobility and power delivery and the bottom section addressing a custom task, such as incorporating additional sensors for crop monitoring or manipulators for crop handling. This prototype illustrates the infrastructure, locomotive mechanism, and sample usage of the system (crop imaging) in the application of low-tunnel-covered strawberries; however, there is potential for other row crop systems with regularly spaced support structures to adopt this platform as well. Full article
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24 pages, 4120 KiB  
Article
Real-Time Railway Hazard Detection Using Distributed Acoustic Sensing and Hybrid Ensemble Learning
by Yusuf Yürekli, Cevat Özarpa and İsa Avcı
Sensors 2025, 25(13), 3992; https://doi.org/10.3390/s25133992 - 26 Jun 2025
Viewed by 604
Abstract
Rockfalls on railways are considered a natural disaster under the topic of landslides. It is an event that varies regionally due to landforms and climate. In addition to traffic density, the Karabük–Yenice railway line also passes through mountainous areas, river crossings, and experiences [...] Read more.
Rockfalls on railways are considered a natural disaster under the topic of landslides. It is an event that varies regionally due to landforms and climate. In addition to traffic density, the Karabük–Yenice railway line also passes through mountainous areas, river crossings, and experiences heavy seasonal rainfall. These conditions necessitate the implementation of proactive measures to mitigate risks such as rockfalls, tree collapses, landslides, and other geohazards that threaten the railway line. Undetected environmental events pose a significant threat to railway operational safety. The study aims to provide early detection of environmental phenomena using vibrations emitted through fiber optic cables. This study presents a real-time hazard detection system that integrates Distributed Acoustic Sensing (DAS) with a hybrid ensemble learning model. Using fiber optic cables and the Luna OBR-4600 interrogator, the system captures environmental vibrations along a 6 km railway corridor in Karabük, Türkiye. CatBoosting, Support Vector Machine (SVM), LightGBM, Decision Tree, XGBoost, Random Forest (RF), and Gradient Boosting Classifier (GBC) algorithms were used to detect the incoming signals. However, the Voting Classifier hybrid model was developed using SVM, RF, XGBoost, and GBC algorithms. The signaling system on the railway line provides critical information for safety by detecting environmental factors. Major natural disasters such as rockfalls, tree falls, and landslides cause high-intensity vibrations due to environmental factors, and these vibrations can be detected through fiber cables. In this study, a hybrid model was developed with the Voting Classifier method to accurately detect and classify vibrations. The model leverages an ensemble of classification algorithms to accurately categorize various environmental disturbances. The system has proven its effectiveness under real-world conditions by successfully detecting environmental events such as rockfalls, landslides, and falling trees with 98% success for Precision, Recall, F1 score, and accuracy. Full article
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35 pages, 4434 KiB  
Article
MDO of Robotic Landing Gear Systems: A Hybrid Belt-Driven Compliant Mechanism for VTOL Drones Application
by Masoud Kabganian and Seyed M. Hashemi
Drones 2025, 9(6), 434; https://doi.org/10.3390/drones9060434 - 14 Jun 2025
Viewed by 515
Abstract
This paper addresses inherent limitations in unmanned aerial vehicle (UAV) undercarriages hindering vertical takeoff and landing (VTOL) capabilities on uneven slopes and obstacles. Robotic landing gear (RLG) designs have been proposed to address these limitations; however, existing designs are typically limited to ground [...] Read more.
This paper addresses inherent limitations in unmanned aerial vehicle (UAV) undercarriages hindering vertical takeoff and landing (VTOL) capabilities on uneven slopes and obstacles. Robotic landing gear (RLG) designs have been proposed to address these limitations; however, existing designs are typically limited to ground slopes of 6–15°, beyond which rollover would happen. Moreover, articulated RLG concepts come with added complexity and weight penalties due to multiple drivetrain components. Previous research has highlighted that even a minor 3-degree slope change can increase the dynamic rollover risks by 40%. Therefore, the design optimization of robotic landing gear for enhanced VTOL capabilities requires a multidisciplinary framework that integrates static analysis, dynamic simulation, and control strategies for operations on complex terrain. This paper presents a novel, hybrid, compliant, belt-driven, three-legged RLG system, supported by a multidisciplinary design optimization (MDO) methodology, aimed at achieving enhanced VTOL capabilities on uneven surfaces and moving platforms like ship decks. The proposed system design utilizes compliant mechanisms featuring a series of three-flexure hinges (3SFH), to reduce the number of articulated drivetrain components and actuators. This results in a lower system weight, improved energy efficiency, and enhanced durability, compared to earlier fully actuated, articulated, four-legged, two-jointed designs. Additionally, the compliant belt-driven actuation mitigates issues such as backlash, wear, and high maintenance, while enabling smoother torque transfer and improved vibration damping relative to earlier three-legged cable-driven four-bar link RLG systems. The use of lightweight yet strong materials—aluminum and titanium—enables the legs to bend 19 and 26.57°, respectively, without failure. An animated simulation of full-contact landing tests, performed using a proportional-derivative (PD) controller and ship deck motion input, validate the performance of the design. Simulations are performed for a VTOL UAV, with two flexible legs made of aluminum, incorporating circular flexure hinges, and a passive third one positioned at the tail. The simulation results confirm stable landings with a 2 s settling time and only 2.29° of overshoot, well within the FAA-recommended maximum roll angle of 2.9°. Compared to the single-revolute (1R) model, the implementation of the optimal 3R Pseudo-Rigid-Body Model (PRBM) further improves accuracy by achieving a maximum tip deflection error of only 1.2%. It is anticipated that the proposed hybrid design would also offer improved durability and ease of maintenance, thereby enhancing functionality and safety in comparison with existing robotic landing gear systems. Full article
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24 pages, 1613 KiB  
Article
Partial Discharge-Based Cable Vulnerability Ranking with Fuzzy and FAHP Models: Application in a Danish Distribution Network
by Mohammad Reza Shadi, Hamid Mirshekali and Hamid Reza Shaker
Sensors 2025, 25(11), 3454; https://doi.org/10.3390/s25113454 - 30 May 2025
Cited by 1 | Viewed by 543
Abstract
Aging underground cables pose a threatening issue in distribution systems. Replacing all cables at once is economically unfeasible, making it crucial to prioritize replacements. Traditionally, age-based strategies have been used, but they are likely to fail to depict the real condition of cables. [...] Read more.
Aging underground cables pose a threatening issue in distribution systems. Replacing all cables at once is economically unfeasible, making it crucial to prioritize replacements. Traditionally, age-based strategies have been used, but they are likely to fail to depict the real condition of cables. Insulation faults are influenced by electrical, mechanical, thermal, and chemical stresses, and partial discharges (PDs) often serve as early indicators and accelerators of insulation aging. The trends in PD activity provide valuable information about insulation condition, although they do not directly reveal the cable’s real age. Due to the absence of an established ranking methodology for such condition-based data, this paper proposes a fuzzy logic and fuzzy analytic hierarchy process (FAHP)-based cable vulnerability ranking framework that effectively manages uncertainty and expert-based conditions. The proposed framework requires only basic and readily accessible data inputs, specifically cable age, which utilities commonly maintain, and PD measurements, such as peak values and event counts, which can be acquired through cost-effective, noninvasive sensing methods. To systematically evaluate the method’s performance and robustness, particularly given the inherent uncertainties in cable age and PD characteristics, this study employs Monte Carlo simulations coupled with a Spearman correlation analysis. The effectiveness of the developed framework is demonstrated using real operational cable data from a Danish distribution network, meteorological information from the Danish Meteorological Institute (DMI), and synthetically generated PD data. The results confirm that the FAHP-based ranking approach delivers robust and consistent outcomes under uncertainty, thereby supporting utilities in making more informed and economical maintenance decisions. Full article
(This article belongs to the Section Sensor Networks)
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15 pages, 3056 KiB  
Article
Equivalent Stiffness Model for Glass–Glass Photovoltaic Modules in Cable-Suspended Photovoltaic Systems
by Guanhao Hong and Haiwei Xu
Energies 2025, 18(11), 2854; https://doi.org/10.3390/en18112854 - 29 May 2025
Viewed by 462
Abstract
Cable-suspended photovoltaic (PV) systems have gained traction due to their lightweight structure and adaptability to complex terrains. However, the wind-induced vibration behavior of these systems, particularly the contribution of glass–glass PV modules to structural stiffness, remains inadequately addressed in current design codes. This [...] Read more.
Cable-suspended photovoltaic (PV) systems have gained traction due to their lightweight structure and adaptability to complex terrains. However, the wind-induced vibration behavior of these systems, particularly the contribution of glass–glass PV modules to structural stiffness, remains inadequately addressed in current design codes. This study presents a comprehensive finite element analysis to investigate the mechanical role of glass–glass PV modules in cable-suspended PV systems. A high-fidelity model (HFM) capturing detailed structural features of the PV module is established and used as a reference to develop an equivalent stiffness model (ESM). Through modal decomposition under wind excitation, it is shown that module deformation primarily manifests as torsion, which significantly contributes to the overall stiffness of the support structure. Comparative simulations reveal that conventional modeling approaches, including the inaccurate simplified model (ISM), overestimate stiffness, potentially compromising structural safety. The ESM, by accurately replicating the HFM’s torsional response, enables efficient and reliable wind-induced vibration analysis. The results also indicate that modules at the cable span edges experience greater torsional deformation, especially under suction forces, highlighting a critical zone for structural reinforcement. Full article
(This article belongs to the Section A2: Solar Energy and Photovoltaic Systems)
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13 pages, 4557 KiB  
Article
Study on the Ground Pressure Manifestation Patterns of Roof Cutting and Pressure Relief
by Runhu Zheng, Bingyuan Hao, Chaoyao Shi and Tongxi Li
Appl. Sci. 2025, 15(11), 6049; https://doi.org/10.3390/app15116049 - 28 May 2025
Cited by 1 | Viewed by 310
Abstract
Pillarless mining technology is of great significance for improving coal recovery rates, but the intense mining-induced stress disturbances on gob-side entries often lead to surrounding rock instability. In this study, we focused on the ground control challenges in the headgate of Panel 81308 [...] Read more.
Pillarless mining technology is of great significance for improving coal recovery rates, but the intense mining-induced stress disturbances on gob-side entries often lead to surrounding rock instability. In this study, we focused on the ground control challenges in the headgate of Panel 81308 at Huayang Mine No. 2. Comprehensive monitoring of roof–floor convergence, rib deformation, and support resistance revealed the gob-side entry retaining deformation mechanisms with roof-cutting pressure relief; the results show that this retaining deformation exhibits the following three phases of characteristics: the rapid, decelerated, and stable stages. The average roof–floor convergence (607 mm) was significantly greater than the average rib deformation (170 mm), with floor heave accounting for 72.6% of total convergence. The coal pillar side showed dominant deformation in rib movements. The mining influence zones can be divided, based on their distances behind the working face, into strong disturbance zones (0–88 m), weak disturbance zones (88–142 m), and stabilized zones (>178 m). The cable bolt support system demonstrated advanced response characteristics. Compared with conventional gob-side entry retaining, the roof-cutting pressure relief technique altered stress transmission paths, significantly reduced roof load transfer efficiency, and effectively controlled roadway convergence, providing technical guidance for safe production in both this panel and mines with similar geological conditions. Full article
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19 pages, 13305 KiB  
Article
Customized Pediatric Hand EXoskeleton for Activities of Daily Living (PHEX): Design, Development, and Characterization of an Innovative Finger Module
by Elisa D’Angelo, Gianmarco Latini, Alessandro Ceccarelli, Ludovica Nini, Nevio Luigi Tagliamonte, Loredana Zollo and Fabrizio Taffoni
Appl. Sci. 2025, 15(10), 5694; https://doi.org/10.3390/app15105694 - 20 May 2025
Viewed by 638
Abstract
Research on pediatric hand exoskeletons remains limited compared to that on devices for adults. This paper presents the design and experimental validation of a customizable pediatric finger module, part of a hand exoskeleton tailored to individual anatomical features. The module aims to assist [...] Read more.
Research on pediatric hand exoskeletons remains limited compared to that on devices for adults. This paper presents the design and experimental validation of a customizable pediatric finger module, part of a hand exoskeleton tailored to individual anatomical features. The module aims to assist finger flexion in children with mild spasticity during activities of daily living. A patient-specific design methodology was applied to the case of a 12-year-old child. The finger module integrates compliant dorsal structures and cable-driven transmission with rigid anchoring elements to balance flexibility and structural stability. Different geometries and thickness values were tested to optimize comfort and quantify mechanical performance. Additive manufacturing was adopted to enable rapid prototyping and easy replacement of parts. Tensile and bending tests were conducted to determine stiffness and cable travel. Results support the feasibility of the proposed finger module, offering empirical data for selection and sizing of the actuation system and paving the way for the advancement of new modular pediatric devices. Full article
(This article belongs to the Special Issue Emerging Technologies for Assistive Robotics)
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17 pages, 9306 KiB  
Article
Research on the Digital Twin System for Rotation Construction Monitoring of Cable-Stayed Bridge Based on MBSE
by Yuhan Zhang, Yimeng Zhao, Zhiyi Li, Wei He and Yi Liu
Buildings 2025, 15(9), 1492; https://doi.org/10.3390/buildings15091492 - 28 Apr 2025
Viewed by 542
Abstract
Digital twin is a virtual replica of a physical system that updates in real time using sensor data to enable simulations and predictions. For bridges constructed using rotation construction methods, the rotation phase demands continuous monitoring of structural behavior and coordination with surrounding [...] Read more.
Digital twin is a virtual replica of a physical system that updates in real time using sensor data to enable simulations and predictions. For bridges constructed using rotation construction methods, the rotation phase demands continuous monitoring of structural behavior and coordination with surrounding traffic infrastructure. Therefore, a digital twin system for monitoring rotation construction is vital to ensure safety and schedule compliance. This paper explores the application of model-based systems engineering (MBSE), a modern approach that replaces text-based documentation with visual system models, to design a digital twin system for monitoring the rotation construction of a 90 m + 90 m single-tower cable-stayed bridge. A V-model architecture for the digital twin system, based on requirements analysis, functional analysis, logical design, and physical design analysis (RFLP), is proposed. Based on SysML language, the system’s requirements, functions, behaviors, and other aspects are modeled and analyzed using the MBSE approach, converting all textual specifications into the unified visual models. Compared to the traditional document-driven method, MBSE improves design efficiency by reducing ambiguities in system specifications and enabling early detection of design flaws through simulations. The digital twin system allows engineers to predict potential risks during bridge rotation and optimize construction plans before implementation. These advancements demonstrate how MBSE supports proactive problem-solving (forward design) and provides a robust foundation for future model validation and engineering applications. Full article
(This article belongs to the Section Construction Management, and Computers & Digitization)
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25 pages, 27293 KiB  
Article
Mechanism of Enhanced Control and Technological Application of Surrounding Rock Anchoring in Fully Mechanized Caving Face of Extra-Thick Coal Seams
by Deqiu Wang, Fulian He, Dongdong Chen, Marc Bascompta, Xiao Wang, Chenyu Xu, Bingquan Liu and Wang Tian
Processes 2025, 13(4), 1216; https://doi.org/10.3390/pr13041216 - 17 Apr 2025
Viewed by 401
Abstract
With respect to the problem of the anchorage failure of a broken roof in the roadway of extra-thick coal seams by using a traditional unconstrained pushing anchoring agent, a new anchoring agent installation technology with a push–pull device was proposed. Many research methods [...] Read more.
With respect to the problem of the anchorage failure of a broken roof in the roadway of extra-thick coal seams by using a traditional unconstrained pushing anchoring agent, a new anchoring agent installation technology with a push–pull device was proposed. Many research methods were adopted to study the mechanism of the efficient control of anchoring agent installation technology with a push–pull device on surrounding rock and the application of the technology. The results indicated that an unconstrained pushing anchoring agent exhibited two main morphological types: bending equilibrium and bending instability. The pushing force for the anchoring agent installed using the integrated push–pull method was calculated to be 13.52 N, which was less than that of the unconstrained pushing anchoring agent. An anchoring agent pushing with the push–pull device was able to smoothly pass through borehole delamination and collapse zones. When the pull-out force reached 160 kN and 180 kN, there was no significant slip or failure in the anchored section of the cable. The support system with the push–pull device for installing the anchoring agent reduced rock deformation by nearly 50%. This demonstrated that this technology significantly enhances the control of surrounding rock deformation. Full article
(This article belongs to the Section Energy Systems)
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