Search Results (398)

This paper presents a comparative modeling and experimental validation study for a modular four-wheel omnidirectional mobile robot, focusing on two locomotion architectures implemented on the same platform: four omni wheels (90° rollers) and four Mecanum wheels (45° rollers). Both configurations were evaluated under identical benchmark conditions on a 1 m × 1 m square path (4 m total path length), using the same nominal 12 V supply and the same test duration, in order to ensure a fair and reproducible cross-architecture comparison. A MATLAB/Simulink–Simscape dynamic model was developed for both architectures, while experimental validation was performed using Hall-effect current sensors integrated into the drive modules. Based on the measured and simulated motor currents, a 12 V-based electrical input-power estimate was evaluated at both motor and robot level. For the considered benchmark, the four-Mecanum configuration exhibited a lower measured input-power estimate than the four-omni configuration (17.88 W vs. 25.75 W), corresponding to an approximate reduction of 30.6% under the adopted assumptions. At robot level, the deviation between simulated and measured total input-power estimate was 3.70% for the four-omni architecture and 21.42% for the four-Mecanum architecture, indicating higher predictive agreement for the omni-wheel model in its present form. The comparative analysis also suggests that wheel–ground interaction and roller geometry influence not only the measured current demand but also the level of agreement between simulation and experiment. Although the present study is limited to a single standardized benchmark and nominal-voltage conditions, it provides a controlled basis for comparing the two locomotion solutions and for identifying directions for further model refinement. The findings should therefore be interpreted as benchmark-specific comparative results offering practical guidance for locomotion architecture selection and for future refinement of friction-aware omnidirectional robot models. Full article

Axial Flux Permanent Magnet Synchronous Motors (AFPMSMs) are gaining increasing attention for their application in electric vehicle (EV) drive systems. Their high torque density and compact axial geometry make them attractive for high-performance EV drive systems. However, cogging torque remains a major challenge, degrading low-speed drivability, noise performance, and control stability. This article proposes a magnet skew on rotor modulation structure using a genetic algorithm (GA) to reduce cogging torque in AFPMSMs utilizing a 12/15 non-integer pole/slot arrangement. The objective of optimization is to simultaneously reduce cogging torque under identical electromagnetic constraints. A complete three-dimensional finite element model (3D-FEM) incorporating nonlinear magnetic material properties has been developed to evaluate the electromagnetic field distribution and torque components. The results indicate that a 12/15 non-integer pole/slot arrangement improves harmonic distribution and extends the operating range with lower cogging torque compared to integer pole/slot designs. Combined with GA-optimized skew angles, this reduces peak-to-peak cogging torque to less than 50%. This design is ideally suited for the traction requirements of electric vehicles, including premium electric vehicles where smooth operation at low speeds is critical. Full article

Omnidirectional mobile robots are increasingly used in industrial and service applications due to their high maneuverability and ability to perform combined translational and rotational motions in confined spaces. However, these locomotion advantages are often accompanied by additional wheel–ground interaction losses, making power consumption an important design criterion in the design of efficient mobile platforms. This study presents a dynamic modeling and experimental-power benchmarking framework for a modular mobile robot equipped with three omnidirectional wheels, using a four-omni-wheel configuration as a baseline reference for comparison. A CAD-consistent multibody dynamic model of the three-wheel architecture is developed in the MATLAB/Simulink–Simscape Multibody R2024benvironment to estimate motor currents and electrical-power demand during motion. Experimental validation is carried out on the physical prototype using Hall-effect current sensors integrated into the drive modules, enabling real-time current acquisition for each motor. Both the simulation and experiments are performed on a standardized 1 m square-path benchmark at a constant 12 V supply. The results show that the proposed three-omni-wheel configuration reaches a total measured power of 14.43 W and a simulated power of 12.72 W, corresponding to a robot-level deviation of 11.85%. By comparison, the four-omni-wheel baseline exhibits a total measured power of 25.75 W and a simulated power of 24.92 W. Therefore, the proposed three-wheel architecture reduces the measured power demand by approximately 43.96% relative to the baseline, while the four-wheel configuration provides higher model fidelity. The proposed methodology supports power-oriented evaluation and informed design selection of omnidirectional locomotion architectures for modular mobile robots intended for industrial applications. Full article

Fire trucks equipped with truck-mounted electric water cannons are key mobile firefighting assets for urban and industrial fire response. However, due to the inherent mechanical inertia of the cannon body, its low-frequency motion response cannot match high-frequency control commands, making the system prone to oscillations and control instability. To address this command–execution frequency mismatch, this paper proposes a decoupled dual closed-loop control architecture for truck-mounted electric water cannons on mobile fire trucks: the fast loop is used for fire-source tracking and rapid localization, while the slow loop is used for water-jet aiming alignment. In the fast loop, a 2-D quadrant positioning rule drives the pan–tilt unit to achieve rapid fire tracking and accurate centering. In the slow loop, Kalman-filter-based state estimation and delay-aligned prediction generate feedforward aiming commands; these commands are fused with error feedback and further processed through command limiting and trajectory optimization, ultimately producing smooth and executable angle references. The visual perception module ran at 58 FPS, satisfying the real-time requirement of the proposed system. In five repeated extinguishment tests under controlled open-site conditions, the proposed method successfully completed all trials and reduced the mean extinguishment time to 13.55 s, compared with 15.83 s for the incremental-PID baseline and 23.76 s for the coupled proportional baseline, while also showing smoother correction and less redundant oscillation. Full article

Selectively modulating specific brain-rhythm bands with physical stimuli helps both to reveal neural mechanisms and to provide non-pharmacological treatment avenues for brain disorders. This study proposes and implements a multi-channel transcranial magneto-acoustic stimulation driving system based on amplitude-modulated (AM) sine waves (AM-TMAS) intended to supply a reliable hardware platform for noninvasive, focal low-frequency rhythmic electrical stimulation of deep-brain structures. The driving system implements a 64-channel AM module based on an FPGA plus high-speed DACs. Multi-channel precision is achieved via a unified high-speed clock and a global UPDATE trigger. To overcome the large separation between envelope and carrier frequencies, we developed a high-fidelity AM waveform generation method based on DDS + LUT + envelope multiplication. The algorithm first centers the carrier samples to preserve waveform symmetry, then applies LUT-based envelope coefficients and fixed-point envelope multiplication, enabling high-precision AM outputs with carrier frequencies from 100 kHz to 2 MHz and envelope frequencies from 0.1 Hz to 100 kHz. We tested the system’s rhythmic multi-channel AM output performance across frequencies and also measured magneto-acoustic-coupled rhythmic electrical signals produced by the AM-TMAS driving setup. Any single channel reliably produced high-fidelity AM waveforms with a 500 kHz carrier and 8 Hz/40 Hz envelopes; the measured carrier was 499.998 kHz with excellent frequency stability. Both envelope and carrier frequencies are flexibly tunable. At the nominal 500 kHz carrier, envelope fidelity was further quantified: the extracted envelopes achieved NRMSEs of 1.0795% (8 Hz) and 1.9212% (40 Hz), confirming high-fidelity AM synthesis. Under a 0.3 T static magnetic field, the AM-TMAS driving system generated rhythmic electrical responses in physiological saline that carried the expected 40 Hz envelope. The proposed AM-TMAS driver achieves high accuracy in AM waveform generation and robust multi-channel performance, and—when combined with an external static magnetic field—can produce rhythmically modulated magneto-acoustic electrical stimulation. This platform provides a practical technical tool for brain-function research and the development of rhythm-targeted neuromodulation therapies. Full article

We developed an arbitrary Lagrangian–Eulerian (ALE)-based multiphysics model for evaporation from a contact-line-pinned sessile drop of neat water subject to a vertically oriented sinusoidal alternating current (AC) electric field applied across parallel-plate electrodes. The framework fully couples electrostatics, incompressible flow, heat transfer with evaporative cooling, and transient vapour transport in air, and includes an instantaneous, voltage-controlled electrowetting contact-angle response under constant-contact-radius conditions. Validation against published data shows that the model captures both pinned-droplet evaporation and electrically induced deformation. Because Maxwell traction scales with the squared electric-field magnitude, droplet height and contact angle exhibit a robust 2:1 frequency-doubled response, producing two peak–trough events per voltage period. The resulting periodic deformation drives oscillatory interfacial shear and internal recirculation, yielding a synchronous double-peaked evaporative-flux waveform. Gas-side analysis quantifies a time-varying diffusion-layer thickness via a characteristic diffusion length; two thinning events per period coincide with flux maxima, indicating that AC enhancement is dominated by periodic compression of the vapour boundary layer and reduced gas-side mass-transfer resistance. Increasing voltage amplitude (0–60 kV) strongly accelerates volume loss, while frequency has a secondary effect: the cycle-averaged flux rises from 1 to 10 Hz but decreases slightly at 20 Hz due to phase lag and weaker boundary-layer modulation. Full article

Wireless power transfer (WPT) systems have garnered significant market attention owing to their broad applicability in portable electronic devices, electric vehicles, unmanned aerial vehicles, biomedical implants, and related fields. In these systems, operating frequency and efficiency are critical factors affecting both transmission efficiency and transmission distance, making high-frequency operation an important trend for improving overall WPT performance. However, elevating the switching frequency also introduces notable challenges, including increased switching losses in power devices, limited load adaptability, and poor anti-misalignment capability, which in practice often lead to degraded system efficiency and unsatisfactory waveform quality. Accordingly, this paper proposes a high-frequency inverter power supply system capable of operating at a maximum output voltage frequency of 25 KHz. Under conditions of a 10 KHz output frequency and a 20 KΩ load, the system achieves a peak efficiency of 94.01%. A prototype was implemented through the integration of a software algorithm based on ARM Cortex-M3 core control with a hardware architecture consisting of a driving circuit, a full-bridge inverter, and a switchable filtering module. This work offers practical design insights for the development of future high-frequency, high-voltage inverter systems, while also providing valuable experimental data to support further research in this area. Full article

To address the core challenges of low energy utilization efficiency and limited range in front-wheel-drive electric vehicles (FWD EVs), this study proposes a dynamic series braking energy recovery strategy featuring adaptive braking force distribution and multi-factor correction. A comprehensive simulation model integrating five core modules—Cycle, Driver, Controller, Vehicle, and Display—was developed using Matlab/Simulink, combining the dynamic series recovery strategy with traditional parallel recovery strategies. Model reliability was validated through chassis dynamometer test data (maximum error ≤ 3.2%), followed by simulation comparisons under CLTC conditions. Results demonstrate that compared to parallel strategies, the dynamic series approach increases range by 25.8% (from 318 km to 400 km). Key innovations include real-time adaptive front axle braking coefficients based on braking intensity and a correction mechanism integrating vehicle speed and state of charge (SOC), achieving a balance between recovery efficiency, braking stability, and battery protection. This study provides actionable design guidance for FWD EV powertrain optimization while establishing a validated regenerative braking simulation framework. Full article

High-performance speed regulation of interior permanent magnet synchronous motor (IPMSM) drives in electric vehicle (EV) applications becomes particularly challenging in the field-weakening region, where voltage constraints, parameter variations, and nonlinear aerodynamic loads significantly affect the closed-loop stability. To address these challenges, this paper proposes a stability-aware adaptive fractional-order speed control framework for EV traction systems. The framework integrates a fractional-order PI (FOPI) core to provide iso-damping robustness, a bounded fuzzy gain-scheduling mechanism for real-time adaptation, and an offline multi-objective optimization layer for systematic parameter tuning. A Lyapunov-based qualitative analysis is provided to justify closed-loop ultimate boundedness under adaptive gain modulation and field-weakening constraints. The fuzzy scheduler is explicitly structured to regulate the error energy dissipation rate by modulating the proportional and integral gains while preserving the gain boundedness. The controller parameters are optimized using a diversity-driven fractional-order multi-objective PSO algorithm to balance the tracking accuracy and control effort. The proposed framework was validated using a high-fidelity MATLAB/Simulink–CarSim 2023 co-simulation platform under the aggressive US06 driving cycle. The results demonstrated a zero-overshoot transient response, robustness against a 2.5× inertia mismatch, and sustained performance under flux-linkage and inductance variations in deep field-weakening operation. Compared with conventional PI-based strategies, the proposed approach reduced the speed RMSE by 82%, lowered the current THD from 18.5% to 3.2%, and reduced the cumulative DC-link current-squared index by 6.7%. These results validate the practical robustness and computational feasibility of the proposed stability-aware framework for EV traction control. Full article

This study addresses the problem of actively stabilizing the longitudinal body inclination of a tracked mobile platform operating over uneven terrain. A novel drive system architecture is proposed that combines conventional track traction electric drives with an inertial body-stabilization drive based on a flywheel mounted on the pitch axis between the chassis and the body module. The main contribution of the proposed approach is the coordinated control of the traction drives and the inertial actuator based on a unified dynamic model of the platform. A quadratic performance criterion is formulated, and a coordinated optimal control law is synthesized to limit body angular oscillations while accounting for actuator energy consumption. Simulation results for motion over step-like and random terrain irregularities, as well as under external moment disturbances, demonstrate a significant reduction in both peak and root-mean-square pitch-angle deviations relative to configurations without an inertial actuator and with local body stabilization. The results obtained confirm the potential and effectiveness of inertial stabilization drives as part of coordinated drive control systems for tracked mobile platforms intended for special-purpose applications, and indicate prospects for their use in advanced terrestrial robotic platforms and future space robotic systems operating in challenging environments. Full article

Phytochemicals, including flavonoids, stilbenoids, alkaloids, terpenoids, and structurally related synthetic small molecules, exhibit a broad spectrum of beneficial pharmacological effects. These effects stem not only from interactions with specific protein targets but also from their capacity to modify the physical properties of biological membranes. A key membrane property influenced by these plant-derived compounds is the electrical potential drop at the membrane–water interface, which plays a crucial role in numerous cellular processes. Changes in membrane potential impact the function of embedded proteins and ion channels, thereby modulating cell signaling, transport, and pharmacological responses. This review compiles data on how diverse plant and synthetic small molecules alter membrane physical characteristics, particularly the dipole component of the boundary potential in lipid bilayers primarily composed of phosphatidylcholine, a predominant membrane lipid in mammals and fungi. In-depth analysis of structure–activity relationships in this context elucidates how various structural modifications affect the compounds’ ability to shift membrane electrical potential. Understanding these relationships can pinpoint molecular features that drive membrane interactions and facilitate the discovery and design of more potent dipole-modifying agents with therapeutic potential. Full article

This study experimentally investigates a novel hybrid system integrating thermoelectric generators (TEGs) with direct contact membrane distillation (DCMD) for simultaneous low-grade heat recovery, electricity generation, and water desalination. Commercial TEG modules were sandwiched between heat spreaders to transfer thermal energy from a source (approx. 140 °C) to a cooling sink, driving saline water evaporation through a hydrophobic membrane. A validated mathematical model showed strong agreement with the experimental results. The system achieved freshwater mass fluxes of 8–9.5 kg/m²/h and electrical power outputs density of 25–35 W/m². Increasing heat input (450–700 W) significantly enhanced freshwater production and electrical output, improving the Gain Output Ratio (GOR) and reducing Specific Energy Consumption (SEC). While higher feed salinity (up to 35,000 ppm) measurably declined mass flux and thermal efficiency, thermoelectric generation and thermal resistance remained largely unaffected. Energy and exergy efficiencies showed moderate sensitivity to operating conditions, while the Water–Electrical Energy Cogeneration Index (WEeCI) increased at high salinity, highlighting the robust contribution of electricity generation. These results demonstrate the potential of the TEG–DCMD system for the sustainable co-generation of water and power from industrial waste heat or renewable thermal sources. Full article

The inherently high-voltage-length product (V_πL) of thin-film lithium niobate (TFLN) modulators in the O-, C-, and L-telecom bands restricts further scaling of photonic integrated circuits’ bandwidth density, driving their migration toward shorter operating wavelengths. Nevertheless, the corresponding grating couplers, as critical optical input/outputs (optical I/Os) interfaces, remain largely undeveloped. Here, we demonstrate an 850 nm TFLN grating coupler designed based on topological unidirectional guided resonance (UGR). By breaking C₂ symmetry of the unit cell and precisely tailoring its geometry, we achieve unidirectional upward radiation with a 63.7 dB up/down intensity ratio. Subsequent apodization of groove widths and periods enables precise control of the electrical field distribution in both real and momentum spaces. This yields a vertical-cavity surface-emitting laser (VCSEL)-matched, highly fabrication-tolerant TFLN grating coupler that attains, to the best of our knowledge, the highest simulated coupling efficiency of −0.6 dB without mirrors or hybrid materials. This work delivers a high-efficiency, layout-flexible, and complementary metal oxide semiconductor (CMOS)-compatible optical I/Os solution for short-wavelength TFLN modulators with low V_πL. It offers substantial engineering value and broad applicability for on-chip light source integration and high-bandwidth-density short-reach optical interconnects. Full article

This paper proposes a unified energy management, fault detection, and fault-tolerant control (EMS–FDI–FTC) framework for Hybrid Hydrogen Electric Vehicles (HHEVs) integrating a fuel cell (FC), battery (Bat), and supercapacitor (SC). While such multi-source architectures enable high-efficiency propulsion under dynamic driving conditions, actuator and state faults such as FC voltage sag, Bat internal resistance increase, and SC capacitance degradation can compromise safety, availability, and component lifetime. The proposed framework converts real-world GPS-recorded vehicle speed profiles into route-aware traction power demand and combines interpretable model-based indicators with an AI-based fault detection and classification module. Based on the diagnosis outcome, a fault-tolerant supervisory strategy performs online power reallocation among the FC, Bat, and SC while enforcing operational constraints. Validation is conducted in a MATLAB-based software-in-the-loop (SIL) environment using three urban driving routes collected from on-road measurements in Tunisia with injected ground-truth faults. The results demonstrate reliable fault classification performance and effective service continuity during fault intervals, supplying over 94% of the demanded energy across all routes, with energy-not-served remaining below 0.02 kWh. In addition, processor-in-the-loop (PIL) implementation on an STM32F407VG controller confirms real-time feasibility with a 10 Hz supervisory sampling rate and execution time margins compatible with embedded automotive deployment. Overall, the proposed closed-loop framework provides a practical route-aware diagnosis-to-control solution for robust and fault-resilient HHEV operation under realistic driving variability. All energy and efficiency indicators reported in this study are derived from control-oriented component models and are intended for consistent comparative evaluation across routes and operating scenarios, rather than absolute representation of a specific commercial vehicle. Full article

Common-mode voltage (CMV) is a critical concern in motor drive applications employing multilevel inverters, as it can lead to significant issues such as high-frequency noise, electromagnetic interference, and motor bearing degradation. These effects can compromise the reliability, reduce the operational lifespan of electric machines, and introduce safety hazards. In this study, an enhanced Direct Torque Control (DTC) strategy incorporating Space Vector Modulation (SVM) is proposed to specifically address CMV-related challenges in induction motors (IM) driven by a three-level Neutral-Point-Clamped (NPC) inverter. The proposed DTC scheme utilizes a specialized modulation technique that effectively mitigates CMV while also minimizing current harmonic content, and torque and flux ripples with a constant switching frequency. The developed SVM algorithm simplifies the three-level space vector representation into six equivalent two-level diagrams, enabling more efficient control. The zero-voltage vector is synthesized virtually by combining two active vectors within a two-level hexagonal structure. The effectiveness of the proposed DTC approach is validated through both simulation and Hardware-In-the-Loop (HIL) testing. Compared to the conventional DTC method, the proposed solution demonstrates superior performance in CMV minimization and leakage current reduction. Notably, it limits the CMV amplitude to V_dc/6, a significant improvement over the V_dc/2 typically observed with the standard DTC approach. Full article