Search Results (535)

This paper addresses the challenge of maximizing power extraction in offshore wind energy systems through the development of an enhanced maximum power point tracking (MPPT) control strategy. Offshore wind energy is inherently intermittent, leading to discrepancies between power generation and electricity demand. To address this issue, we propose three advanced control algorithms to perform a comparative analysis: sliding mode control (SMC), the Integral Backstepping-Based Real-Twisting Algorithm (IBRTA), and Feed-Back Linearization (FBL). These algorithms are designed to handle the nonlinear dynamics and aerodynamic uncertainties associated with offshore wind turbines. Given the practical limitations in acquiring accurate nonlinear terms and aerodynamic forces, our approach focuses on ensuring the adaptability and robustness of the control algorithms under varying operational conditions. The proposed strategies are rigorously evaluated through MATLAB/Simulink 2024 A simulations across multiple wind speed scenarios. Our comparative analysis demonstrates the superior performance of the proposed methods in optimizing power extraction under diverse conditions, contributing to the advancement of MPPT techniques for offshore wind energy systems. Full article

This paper presents the development of a compact nanopositioning stage with long-range capabilities and six-degree-of-freedom (DOF) closed-loop control. The system, referred to as NPS6D100, provides Ø100 mm planar and 10 mm vertical travel range while maintaining direct force transfer to the moving platform (or slider) in all DOFs. Based on an integrated planar direct drive concept, the system is enhanced by precise vertical actuation and full 6D output feedback control. The mechanical structure, drive architecture, guiding, and measurement subsystems are described in detail, along with experimental results that confirm sub-10 nm servo errors under constant setpoint operation and in synchronized multi-axis motion scenarios. With its scalable and low-disturbance design, the NPS6D100 is well suited as a nanopositioning platform for sub-10 nm applications in nanoscience and precision metrology. Full article

The space flexible netted pocket capture system provides a flexible and stable solution for capturing non-cooperative space objects. This paper investigates the control problem for the capture of non-cooperative targets undergoing motion. A dynamic model of the capturing net is established based on the absolute nodal coordinate formulation (ANCF) and equivalent plate–shell theory. A contact collision force model is developed using a spring–damper model. Subsequently, a feedforward controller is designed based on the estimated collision force from the dynamic model, aiming to compensate for the collision effects between the target and the net. By incorporating the collision estimation data, an extended state observer is designed, taking into account the collision estimation errors and the flexible uncertainties. A sliding mode feedback controller is then designed using the fast terminal sliding mode control method. Finally, simulation analysis of target capture under different motion states is conducted. The results demonstrate that the spacecraft system’s position and attitude average flutter amplitudes are less than ${10}^{-2}$ m and ${10}^{-2}$ deg. In comparison to standard sliding mode control, the designed controller reduces the attitude jitter amplitude by an order of magnitude, thus demonstrating its effectiveness and superiority. Full article

This study develops a dynamic IS-LM macroeconomic model that incorporates delayed taxation and a memory-dependent income effect, and calibrates it to quarterly data for Romania (2000–2023). Within this framework, fiscal policy lags are modelled using a “memory” income variable that weights past incomes, an approach grounded in distributed lag theory to capture how historical economic conditions influence current dynamics. The model is analysed both analytically and through numerical simulations. We derive stability conditions and employ bifurcation analysis to explore how the timing of taxation influences macroeconomic equilibrium. The findings reveal that an immediate taxation regime yields a stable adjustment toward a unique equilibrium, consistent with classical IS-LM expectations. In contrast, delayed taxation, where tax revenue depends on past income, can destabilise the system, giving rise to cycles and even chaotic fluctuations for parameter values that would be stable under immediate collection. In particular, delays act as a destabilising force, lowering the threshold of the output-adjustment speed at which oscillations emerge. These results highlight the critical importance of policy timing: prompt fiscal feedback tends to stabilise the economy, whereas lags in fiscal intervention can induce endogenous cycles. The analysis offers policy-relevant insights, suggesting that reducing fiscal response delays or counteracting them with other stabilisation tools is crucial for macroeconomic stability. Full article

This paper presents some of the most significant findings in the design of a hydraulic servomechanism for flight controls, which were primarily achieved by the first author during his activity in an aviation institute. These results are grouped into four main topics. The first one outlines a classical theory, from the 1950s–1970s, of the analysis of nonlinear automatic systems and namely the issue of absolute stability. The uninformed public may be misled by the adjective “absolute”. This is not a “maximalist” solution of stability but rather highlights in the system of equations a nonlinear function that describes, for the case of hydraulic servomechanisms, the flow-control dependence in the distributor spool. This function is odd, and it is therefore located in quadrants 1 and 3. The decision regarding stability is made within the so-called Lurie problem and is materialized by a matrix inequality, called the Lefschetz condition, which must be satisfied by the parameters of the electrohydraulic servomechanism and also by the components of the control feedback vector. Another approach starts from a classical theorem of V. M. Popov, extended in a stochastic framework by T. Morozan and I. Ursu, which ends with the description of the local and global spool valve flow-control characteristics that ensure stability in the large with respect to bounded perturbations for the mechano-hydraulic servomechanism. We add that a conjecture regarding the more pronounced flexibility of mathematical models in relation to mathematical instruments (theories) was used. Furthermore, the second topic concerns, the importance of the impedance characteristic of the mechano-hydraulic servomechanism in preventing flutter of the flight controls is emphasized. Impedance, also called dynamic stiffness, is defined as the ratio, in a dynamic regime, between the output exerted force (at the actuator rod of the servomechanism) and the displacement induced by this force under the assumption of a blocked input. It is demonstrated in the paper that there are two forms of the impedance function: one that favors the appearance of flutter and another that allows for flutter damping. It is interesting to note that these theoretical considerations were established in the institute’s reports some time before their introduction in the Aviation Regulation AvP.970. However, it was precisely the absence of the impedance criterion in the regulation at the appropriate time that ultimately led, by chance or not, to a disaster: the crash of a prototype due to tailplane flutter. A third topic shows how an important problem in the theory of automatic systems of the 1970s–1980s, namely the robust synthesis of the servomechanism, is formulated, applied and solved in the case of an electrohydraulic servomechanism. In general, the solution of a robust servomechanism problem consists of two distinct components: a servo-compensator, in fact an internal model of the exogenous dynamics, and a stabilizing compensator. These components are adapted in the case of an electrohydraulic servomechanism. In addition to the classical case mentioned above, a synthesis problem of an anti-windup (anti-saturation) compensator is formulated and solved. The fourth topic, and the last one presented in detail, is the synthesis of a fuzzy supervised neurocontrol (FSNC) for the position tracking of an electrohydraulic servomechanism, with experimental validation, in the laboratory, of this control law. The neurocontrol module is designed using a single-layered perceptron architecture. Neurocontrol is in principle optimal, but it is not free from saturation. To this end, in order to counteract saturation, a Mamdani-type fuzzy logic was developed, which takes control when neurocontrol has saturated. It returns to neurocontrol when it returns to normal, respectively, when saturation is eliminated. What distinguishes this FSNC law is its simplicity and efficiency and especially the fact that against quite a few opponents in the field, it still works very well on quite complicated physical systems. Finally, a brief section reviews some recent works by the authors, in which current approaches to hydraulic servomechanisms are presented: the backstepping control synthesis technique, input delay treated with Lyapunov–Krasovskii functionals, and critical stability treated with Lyapunov–Malkin theory. Full article

This paper presents the development and analysis of a novel 6-DOF Cartesian parallel mechanism intended for use as a haptic device for initial sonography training. The system integrates a manipulator designed for delivering force feedback in five degrees of freedom; however, in the current stage, only mechanical architecture and kinematic validation have been conducted. Future enhancements will focus on implementing and evaluating closed-loop force control to enable complete haptic feedback. To assess the kinematic performance of the mechanism, a detailed kinematic model was developed, and both the Kinematic Conditioning Index (KCI) and Global Conditioning Index (GCI) were computed to evaluate the system’s dexterity. A trajectory simulation was conducted to validate the mechanism’s movement, using motion patterns typical in sonography procedures. Quasi-static analysis was performed to study the transmission of force and torque for generating realistic haptic feedback, critical for simulating real-life sonography. The simulation results showed consistent performance, with dexterity and torque distribution confirming the suitability of the mechanism for haptic applications in sonography training. Additionally, structural analysis verified the robustness of key components under expected loads. In order to validate the proposed design, the prototype was constructed using a combination of aluminum components and 3D-printed ABS parts, with Igus^® linear guides for precise motion. The outcomes of this study provide a foundation for the further development of a low-cost, effective sonography training system. Full article

This review provides a comprehensive analysis of recent advancements in lower limb exoskeleton systems, focusing on applications, control strategies, hardware architecture, sensing modalities, human-robot interaction, evaluation methods, and technical innovations. The study spans systems developed for gait rehabilitation, mobility assistance, terrain adaptation, pediatric use, and industrial support. Applications range from sit-to-stand transitions and post-stroke therapy to balance support and real-world navigation. Control approaches vary from traditional impedance and fuzzy logic models to advanced data-driven frameworks, including reinforcement learning, recurrent neural networks, and digital twin-based optimization. These controllers support personalized and adaptive interaction, enabling real-time intent recognition, torque modulation, and gait phase synchronization across different users and tasks. Hardware platforms include powered multi-degree-of-freedom exoskeletons, passive assistive devices, compliant joint systems, and pediatric-specific configurations. Innovations in actuator design, modular architecture, and lightweight materials support increased usability and energy efficiency. Sensor systems integrate EMG, EEG, IMU, vision, and force feedback, supporting multimodal perception for motion prediction, terrain classification, and user monitoring. Human–robot interaction strategies emphasize safe, intuitive, and cooperative engagement. Controllers are increasingly user-specific, leveraging biosignals and gait metrics to tailor assistance. Evaluation methodologies include simulation, phantom testing, and human–subject trials across clinical and real-world environments, with performance measured through joint tracking accuracy, stability indices, and functional mobility scores. Overall, the review highlights the field’s evolution toward intelligent, adaptable, and user-centered systems, offering promising solutions for rehabilitation, mobility enhancement, and assistive autonomy in diverse populations. Following a detailed review of current developments, strategic recommendations are made to enhance and evolve existing exoskeleton technologies. Full article

This paper establishes some links between Sturm–Liouville problems and the well-known controllability property in linear dynamic systems, together with a control law design that allows any prefixed arbitrary final state finite value to be reached via feedback from any given finite initial conditions. The scheduled second-order dynamic systems are equivalent to the stated second-order differential equations, and they are used for analysis purposes. In the first study, a control law is synthesized for a forced time-invariant nominal version of the current time-varying one so that their respective two-point boundary values are coincident. Afterward, the parameter that fixes the set of eigenvalues of the Sturm–Liouville system is replaced by a time-varying parameter that is a control function to be synthesized without performing, in this case, any comparison with a nominal time-invariant version of the system. Such a control law is designed in such a way that, for given arbitrary and finite initial conditions of the differential system, prescribed final conditions along a time interval of finite length are matched by the state trajectory solution. As a result, the solution of the dynamic system, and thus that of its differential equation counterpart, is subject to prefixed two-point boundary values at the initial and at the final time instants of the time interval of finite length under study. Also, some algebraic constraints between the eigenvalues of the Sturm–Liouville system and their evolution operators are formulated later on. Those constraints are based on the fact that the solutions corresponding to each of the eigenvalues match the same two-point boundary values. Full article

The paper presents the innovative approach to a high-fidelity motorcycle riding simulator based on VR (Virtual Reality)-visualization, equipped with a Gough-Stewart 6-DOF (Degrees of Freedom) motion platform. Such a solution integrates a real-time tension sensor system as a source for highly realistic motion cueing control as well as the servomotor integrated into the steering system. Tension forces are measured at four points on the mock-up chassis, allowing a comprehensive analysis of rider interaction during various maneuvers. The simulator is developed to simulate realistic riding scenarios with immersive motion and visual feedback, enhanced with the simulation of external influences—headwind. This paper presents results of a validation study—pilot experiments conducted to evaluate selected riding scenarios and validate the innovative simulator setup, focusing on force distribution and system responsiveness to support further research in motorcycle HMI (Human–Machine Interaction), rider behavior, and training. Full article

Vibration control has long been a key concern in engineering, with low-frequency vibration isolation remaining particularly challenging. Traditional linear isolators are limited in their ability to provide high load-bearing capacity and effective low-frequency isolation simultaneously. In contrast, quasi-zero stiffness (QZS) isolators offer low dynamic stiffness near equilibrium while maintaining high static stiffness, thereby enabling superior isolation performance in the low and ultra-low frequency range. This paper proposes a novel vibration isolation system that combines a grounded dynamic absorber with a QZS isolator, incorporating time-delay feedback control to enhance performance. The dynamic equations of the system are derived using Newton’s second law. The harmonic balance method combined with the arc-length continuation technique is employed to obtain steady-state responses under harmonic force excitation. The influence of feedback gain and time delay on vibration isolation effectiveness and dynamic behavior is analyzed, demonstrating the ability of time-delay feedback to modulate system responses and suppress primary resonance peaks. To further enhance performance, a genetic algorithm is used to optimize the control parameters under harmonic force excitation. The force transmissibility is defined as fitness functions, and the effects of control parameters on these metrics are examined. The results show that the optimized time-delay feedback parameters significantly reduce the transmitted force, improving the overall isolation efficiency. The proposed system provides a promising approach for achieving high-performance vibration isolation in low-frequency environments. Full article

Tropical peatlands store approximately 105 gigatons of carbon (GtC), serving as vital long-term carbon sinks, yet remain critically underrepresented in climate policy. Indonesia peatlands contain 57GtC—the largest tropical peatland carbon stock in the Asia–Pacific. However, decades of drainage, fires, and lax enforcement practices have degraded vast peatland areas, turning them from carbon sinks into emission sources—as evidenced by the 1997 and 2015 peatland fires which emitted 2.57 Gt CO₂eq and 1.75 Gt CO₂eq, respectively. Using system theory validated against historical data (1997–2023), we develop a causal loop model revealing three interconnected feedback loops driving irreversible collapse: (1) drainage–desiccation–oxidation, where water table below −40 cm triggers peat oxidation (2–5 cm subsistence) and fires; (2) fire–climate–permafrost, wherein emissions intensify radiative forcing, destabilizing monsoons and accelerating Arctic permafrost thaw (+15% since 2000); and (2) economy–governance failure, perpetuated by palm oil’s economic dominance and slack regulatory oversight. To break these vicious cycles, we propose a precautionary framework featuring IoT-enforced water table (≤40 cm), reducing emissions by 34%, legally protected “Global Climate Stabilization Zones” for peat domes (>3 m depth), safeguarding 57 GtC, and ASEAN transboundary enforcement funded by a 1–3% palm oil levy. Without intervention, annual emissions may reach 2.869 GtCO₂e by 2030 (Nationally Determined Contribution’s business-as-usual scenario). Conversely, rewetting 590 km²/year aligns with Indonesia’s FOLU Net Sink 2030 target (−140 Mt CO₂e) and mitigates 1.4–1.6 MtCO₂ annually. We conclude that integrating peatlands as irreplaceable climate infrastructure into global policy is essential for achieving Paris Agreement goals and SDGs 13–15. Full article

This study presents a novel investigation into immersive teleoperation systems using collaborative, device-agnostic interfaces for advancing smart haptics in industrial assistive applications. The research focuses on evaluating the quality of experience (QoE) of users interacting with a teleoperation system comprising a local robotic arm, a robot gripper, and heterogeneous remote tracking and haptic feedback devices. By employing a modular device-agnostic framework, the system supports flexible configurations, including one-user-one-equipment (1U-1E), one-user-multiple-equipment (1U-ME), and multiple-users-multiple-equipment (MU-ME) scenarios. The experimental set-up involves participants manipulating predefined objects and placing them into designated baskets by following specified 3D trajectories. Performance is measured using objective QoE metrics, including temporal efficiency (time required to complete the task) and spatial accuracy (trajectory similarity to the predefined path). In addition, subjective QoE metrics are assessed through detailed surveys, capturing user perceptions of presence, engagement, control, sensory integration, and cognitive load. To ensure flexibility and scalability, the system integrates various haptic configurations, including (1) a Touch kinaesthetic device for precision tracking and grounded haptic feedback, (2) a DualSense tactile joystick as both a tracker and mobile haptic device, (3) a bHaptics DK2 vibrotactile glove with a camera tracker, and (4) a SenseGlove Nova force-feedback glove with VIVE trackers. The modular approach enables comparative analysis of how different device configurations influence user performance and experience. The results indicate that the objective QoE metrics varied significantly across device configurations, with the Touch and SenseGlove Nova set-ups providing the highest trajectory similarity and temporal efficiency. Subjective assessments revealed a strong correlation between presence and sensory integration, with users reporting higher engagement and control in scenarios utilizing force feedback mechanisms. Cognitive load varied across the set-ups, with more complex configurations (e.g., 1U-ME) requiring longer adaptation periods. This study contributes to the field by demonstrating the feasibility of a device-agnostic teleoperation framework for immersive industrial applications. It underscores the critical interplay between objective task performance and subjective user experience, providing actionable insights into the design of next-generation teleoperation systems. Full article

As a groundbreaking innovation in the field of soft robotics, fabric-based pneumatic soft actuators exhibit substantial advantages over traditional rigid mechanical systems in terms of adaptability, safety, and multifunctionality. This paper presents a thorough review of the design principles, classifications, and application advancements of these actuators. By leveraging the intrinsic flexibility and programmability of fabric materials, these actuators achieve complex and precise motion control through the modulation of internal air pressure. This review investigates the state-of-the-art research progress in overcoming critical challenges, such as enhancing multidirectional expansion capabilities, optimizing the trade-off between flexibility and driving force, and improving control accuracy and response speed. Furthermore, the integration of fabric-based actuators with flexible sensors is highlighted as a highly promising research direction, offering the potential to enhance device intelligence via real-time feedback and adaptive control functionalities. In conclusion, with ongoing advancements in material science, structural design, and control strategies, fabric-based pneumatic soft actuators are expected to unlock broader application potentials in domains such as healthcare, wearable technology, and human–-computer interaction. Full article

The theory of orbital forcing as formulated by Milankovitch involves the mediation by the advance (retreat) of ice sheets and the resulting variations in terrestrial albedo. This approach poses a major problem: that of the period of glacial cycles, which varies over time, as happened during the Mid-Pleistocene Transition (MPT). Here, we show that various hypotheses are called into question because of the finding of a second transition, the Early Quaternary Transition (EQT), resulting from the million-year period eccentricity parameter. We propose to complement the orbital forcing theory to explain both the MPT and the EQT by invoking the mediation of western boundary currents (WBCs) and the resulting variations in heat transfer from the low to the high latitudes. From observational and theoretical considerations, it appears that very long-period Rossby waves winding around subtropical gyres, the so-called “gyral” Rossby waves (GRWs), are resonantly forced in subharmonic modes from variations in solar irradiance resulting from the solar and orbital cycles. Two mutually reinforcing positive feedbacks of the climate response to orbital forcing have been evidenced: namely the change in the albedo resulting from the cyclic growth and retreat of ice sheets in accordance with the standard Milankovitch theory, and the modulation of the velocity of the WBCs of subtropical gyres. Due to the inherited resonance properties of GRWs, the response of the climate system to orbital forcing is sensitive to small changes in the forcing periods. For both the MPT and the EQT, the transition occurred when the forcing period merged with one of the natural periods of the climate system. The MPT occurred 1.25 Ma ago, when the dominant period shifted from 41 ka to 98 ka, with both periods corresponding to changes in the Earth’s obliquity and eccentricity. The EQT occurred 2.38 Ma ago, when the dominant period shifted from 408 ka to 786 ka, with both periods corresponding to changes in the Earth’s eccentricity. Through this paradigm shift, the objective of this self-consistent approach is essentially to spark new debates around a problem that has been pending since the discovery of glacial–interglacial cycles, where many hypotheses have been put forward without, however, fully answering all our questions. Full article

This study investigated the effect of wearable ultrasound-imaging-based visual feedback (UVF) on assisting paretic ankle dorsiflexion training of chronic stroke survivors. Thirty-three participants with unilateral hemiplegia performed maximal isometric contractions on an isokinetic dynamometer in randomized conditions with and without UVF that provided by a wearable ultrasound imaging system. Torque parameters (mean, peak, percentage of maximal voluntary contraction) and tibialis anterior muscle thickness were analyzed across different contraction phases. Statistical comparisons were conducted using paired t-tests or Wilcoxon tests. Correlation analyses were performed using Pearson’s or Spearman’s tests. Results demonstrated that UVF significantly improved torque output, as evidence by the increased percentage of maximal voluntary contraction (%MVC) during entire contractions (p = 0.007), increased mean (p ≤ 0.022) and peak (p ≤ 0.044) torque and the %MVC (p ≤ 0.004) during mid and end phases, and larger muscle thickness during mid contraction (p = 0.045). Moderate correlations were found between torque and muscle thickness (r ≥ 0.30, p ≤ 0.049). These findings preliminarily supported the positive outcomes of real-time wearable UVFs in enhancing paretic ankle dorsiflexion strength and force control during isometric contractions in chronic stroke survivors. While the developed and validated new training protocol may potentially serve as a practical adjunct to existing rehabilitation approaches, further investigations emphasizing the functional outcomes and clinical translations are still needed to verify the clinical utility. Full article