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Keywords = force transmission system

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10 pages, 2384 KiB  
Article
Effects of Grain Size on Mechanical Properties of Nanopolycrystalline Fe-Al Alloy
by Xiaoming Liu, Kun Gao, Long Huang, Peng Chen and Jing Yang
Processes 2025, 13(8), 2462; https://doi.org/10.3390/pr13082462 - 4 Aug 2025
Abstract
FeAl intermetallic compounds exhibit high application potential in high-voltage transmission lines to withstand external forces such as powerlines’ own gravity and wind force. The ordered crystal structure in FeAl intermetallic compounds endows materials with high strength, but the remarkable brittleness at room temperature [...] Read more.
FeAl intermetallic compounds exhibit high application potential in high-voltage transmission lines to withstand external forces such as powerlines’ own gravity and wind force. The ordered crystal structure in FeAl intermetallic compounds endows materials with high strength, but the remarkable brittleness at room temperature restricts engineering applications. This contradiction is essentially closely related to the deformation mechanism at the nanoscale. Here, we performed molecular dynamics simulations to reveal anomalous grain size effects and deformation mechanisms in nanocrystalline FeAl intermetallic material. Models with grain sizes ranging from 6.2 to 17.4 nm were systematically investigated under uniaxial tensile stress. The study uncovers a distinctive inverse Hall-Petch relationship governing flow stress within the nanoscale regime. This behavior stems from high-density grain boundaries promoting dislocation annihilation over pile-up. Crucially, the material exhibits anomalous ductility at ultra-high strain rates due to stress-induced phase transformation dominating the plastic deformation. The nascent FCC phase accommodates strain through enhanced slip systems and inherent low stacking fault energy with the increasing phase fraction paralleling the stress plateau. Nanoconfinement suppresses the propagation of macroscopic defects while simultaneously suppressing room-temperature brittle fracture and inhibiting the rapid phase transformation pathways at extreme strain rates. These findings provide new theoretical foundations for designing high-strength and high-toughness intermetallic nanocompounds. Full article
(This article belongs to the Section Materials Processes)
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23 pages, 5688 KiB  
Article
Fragility Assessment and Reinforcement Strategies for Transmission Towers Under Extreme Wind Loads
by Lanxi Weng, Jiaren Yi, Fubin Chen and Zhenru Shu
Appl. Sci. 2025, 15(15), 8493; https://doi.org/10.3390/app15158493 (registering DOI) - 31 Jul 2025
Viewed by 116
Abstract
Transmission towers are particularly vulnerable to extreme wind events, which can lead to structural damage or collapse, thereby compromising the stability of power transmission systems. Enhancing the wind-resistant capacity of these towers is therefore critical for improving the reliability and resilience of electrical [...] Read more.
Transmission towers are particularly vulnerable to extreme wind events, which can lead to structural damage or collapse, thereby compromising the stability of power transmission systems. Enhancing the wind-resistant capacity of these towers is therefore critical for improving the reliability and resilience of electrical infrastructure. This study utilizes finite element analysis (FEA) to evaluate the structural response of a 220 kV transmission tower subjected to fluctuating wind loads, effectively capturing the dynamic characteristics of wind-induced forces. A comprehensive dynamic analysis is conducted to account for uncertainties in wind loading and variations in wind direction. Through this approach, this study identifies the most critical wind angle and local structural weaknesses, as well as determines the threshold wind speed that precipitates structural collapse. To improve structural resilience, a concurrent multi-scale modeling strategy is adopted. This allows for localized analysis of vulnerable components while maintaining a holistic understanding of the tower’s global behavior. To mitigate failure risks, the traditional perforated plate reinforcement technique is implemented. The reinforcement’s effectiveness is evaluated based on its impact on load-bearing capacity, displacement control, and stress redistribution. Results reveal that the critical wind direction is 45°, with failure predominantly initiating from instability in the third section of the tower leg. Post-reinforcement analysis demonstrates a marked improvement in structural performance, evidenced by a significant reduction in top displacement and stress intensity in the critical leg section. Overall, these findings contribute to a deeper understanding of the wind-induced fragility of transmission towers and offer practical reinforcement strategies that can be applied to enhance their structural integrity under extreme wind conditions. Full article
(This article belongs to the Section Civil Engineering)
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22 pages, 4262 KiB  
Article
Tribo-Dynamics of Dual-Star Planetary Gear Systems: Modeling, Analysis, and Experiments
by Jiayu Zheng, Yonggang Xiang, Changzhao Liu, Yixin Wang and Zonghai Mou
Sensors 2025, 25(15), 4709; https://doi.org/10.3390/s25154709 - 30 Jul 2025
Viewed by 215
Abstract
To address the unclear coupling mechanism between thermal elastohydrodynamic lubrication (TEHL) and dynamic behaviors in planetary gear systems, a novel tribo-dynamic model for dual-star planetary gears considering TEHL effects is proposed. In this model, a TEHL surrogate model is first established to determine [...] Read more.
To address the unclear coupling mechanism between thermal elastohydrodynamic lubrication (TEHL) and dynamic behaviors in planetary gear systems, a novel tribo-dynamic model for dual-star planetary gears considering TEHL effects is proposed. In this model, a TEHL surrogate model is first established to determine the oil film thickness and sliding friction force along the tooth meshing line. Subsequently, the dynamic model of the dual-star planetary gear transmission system is developed through coordinate transformations of the dual-star gear train. Finally, by integrating lubrication effects into both time-varying mesh stiffness and time-varying backlash, a tribo-dynamic model for the dual-star planetary gear transmission system is established. The study reveals that the lubricant film thickness is positively correlated with relative sliding velocity but negatively correlated with unit line load. Under high-speed conditions, a thickened oil film induces premature meshing contact, leading to meshing impacts. In contrast, under high-torque conditions, tooth deformation dominates meshing force fluctuations while lubrication influence diminishes. By establishing a test bench for the planetary gear transmission system, the obtained simulation conclusions are verified. This research provides theoretical and experimental support for the design of high-reliability planetary gear systems. Full article
(This article belongs to the Special Issue Feature Papers in Physical Sensors 2025)
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12 pages, 1752 KiB  
Article
From Myofascial Chains to the Polyconnective Network: A Novel Approach to Biomechanics and Rehabilitation Based on Graph Theory
by Daniele Della Posta, Immacolata Belviso, Jacopo Junio Valerio Branca, Ferdinando Paternostro and Carla Stecco
Life 2025, 15(8), 1200; https://doi.org/10.3390/life15081200 - 28 Jul 2025
Viewed by 425
Abstract
In recent years, the concept of the myofascial network has transformed biomechanical understanding by emphasizing the body as an integrated, multidirectional system. This study advances that paradigm by applying graph theory to model the osteo-myofascial system as an anatomical network, enabling the identification [...] Read more.
In recent years, the concept of the myofascial network has transformed biomechanical understanding by emphasizing the body as an integrated, multidirectional system. This study advances that paradigm by applying graph theory to model the osteo-myofascial system as an anatomical network, enabling the identification of topologically central nodes involved in force transmission, stability, and coordination. Using the aNETomy model and the BIOMECH 3.4 database, we constructed an undirected network of 2208 anatomical nodes and 7377 biomechanical relationships. Centrality analysis (degree, betweenness, and closeness) revealed that structures such as the sacrum and thoracolumbar fascia exhibit high connectivity and strategic importance within the network. These findings, while derived from a theoretical modeling approach, suggest that such key nodes may inform targeted treatment strategies, particularly in complex or compensatory musculoskeletal conditions. The proposed concept of a polyconnective skeleton (PCS) synthesizes the most influential anatomical hubs into a functional core of the system. This framework may support future clinical and technological applications, including integration with imaging modalities, real-time monitoring, and predictive modeling for personalized and preventive medicine. Full article
(This article belongs to the Section Medical Research)
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38 pages, 2182 KiB  
Article
Smart Grid Strategies for Tackling the Duck Curve: A Qualitative Assessment of Digitalization, Battery Energy Storage, and Managed Rebound Effects Benefits
by Joseph Nyangon
Energies 2025, 18(15), 3988; https://doi.org/10.3390/en18153988 - 25 Jul 2025
Viewed by 377
Abstract
Modern utilities face unprecedented pressures as trends in digital transformation and democratized energy choice empower consumers to engage in peak shaving, flexible load management, and adopt grid automation and intelligence solutions. A powerful confluence of architectural, technological, and socio-economic forces is transforming the [...] Read more.
Modern utilities face unprecedented pressures as trends in digital transformation and democratized energy choice empower consumers to engage in peak shaving, flexible load management, and adopt grid automation and intelligence solutions. A powerful confluence of architectural, technological, and socio-economic forces is transforming the U.S. electricity market, triggering significant changes in electricity production, transmission, and consumption. Utilities are embracing digital twins and repurposed Utility 2.0 concepts—distributed energy resources, microgrids, innovative electricity market designs, real-time automated monitoring, smart meters, machine learning, artificial intelligence, and advanced data and predictive analytics—to foster operational flexibility and market efficiency. This analysis qualitatively evaluates how digitalization, Battery Energy Storage Systems (BESSs), and adaptive strategies to mitigate rebound effects collectively advance smart duck curve management. By leveraging digital platforms for real-time monitoring and predictive analytics, utilities can optimize energy flows and make data-driven decisions. BESS technologies capture surplus renewable energy during off-peak periods and discharge it when demand spikes, thereby smoothing grid fluctuations. This review explores the benefits of targeted digital transformation, BESSs, and managed rebound effects in mitigating the duck curve problem, ensuring that energy efficiency gains translate into actual savings. Furthermore, this integrated approach not only reduces energy wastage and lowers operational costs but also enhances grid resilience, establishing a robust framework for sustainable energy management in an evolving market landscape. Full article
(This article belongs to the Special Issue Policy and Economic Analysis of Energy Systems)
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23 pages, 6498 KiB  
Article
Design and Testing of Miniaturized Electrically Driven Plug Seedling Transplanter
by Meng Chen, Yang Xu, Changjie Han, Desheng Li, Binning Yang, Shilong Qiu, Yan Luo, Hanping Mao and Xu Ma
Agriculture 2025, 15(15), 1589; https://doi.org/10.3390/agriculture15151589 - 24 Jul 2025
Viewed by 327
Abstract
To address the issues of bulky structure and complex transmission systems in current transplanters, a compact, electric-driven automatic transplanter was designed. Using pepper plug seedlings as the test subject, this study investigated plug tray dimensions and planting patterns. According to the design requirement [...] Read more.
To address the issues of bulky structure and complex transmission systems in current transplanters, a compact, electric-driven automatic transplanter was designed. Using pepper plug seedlings as the test subject, this study investigated plug tray dimensions and planting patterns. According to the design requirement that the width of the single-row transplanter must be less than 62.5 cm, a three-dimensional transplanter model was constructed. The transplanter comprises a coaxially installed dual-layer seedling conveying device and a sector-expanding automatic seedling picking and depositing device. The structural dimensions, drive configurations, and driving forces of the transplanter were also determined. Finally, the circuit and pneumatic system were designed, and the transplanter was assembled. Both bench and field tests were conducted to select the optimal working parameters. The test results demonstrated that the seedling picking and depositing mechanism met the required operational efficiency. In static seedling picking and depositing tests, at three transplanting speeds of 120 plants/min, 160 plants/min, and 200 plants/min, the success rates of seedling picking and depositing were 100%, 100%, and 97.5%, respectively. In the field test, at three transplanting speeds of 80 plants/min, 100 plants/min, and 120 plants/min, the transplanting success rates were 94.17%, 90.83%, and 88.33%, respectively. These results illustrate that the compact, electric-driven seedling conveying and picking and depositing devices meet the operational demands of automatic transplanting, providing a reference for the miniaturization and electrification of transplanters. Full article
(This article belongs to the Section Agricultural Technology)
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9 pages, 3725 KiB  
Article
A Strain-Compensated InGaAs/InGaSb Type-II Superlattice Grown on InAs Substrates for Long-Wavelength Infrared Photodetectors
by Hao Zhou, Chang Liu and Yiqiao Chen
Nanomaterials 2025, 15(15), 1143; https://doi.org/10.3390/nano15151143 - 23 Jul 2025
Viewed by 286
Abstract
In this paper, the first demonstration of a highly strained In0.8Ga0.2As/In0.2Ga0.8Sb type-II superlattice structure grown on InAs substrates by molecular beam epitaxy (MBE) for long-wavelength infrared detection was reported. Novel methodologies were developed to optimize [...] Read more.
In this paper, the first demonstration of a highly strained In0.8Ga0.2As/In0.2Ga0.8Sb type-II superlattice structure grown on InAs substrates by molecular beam epitaxy (MBE) for long-wavelength infrared detection was reported. Novel methodologies were developed to optimize the As and Sb flux growth conditions. The quality of the epitaxial layer was characterized using multiple analytical techniques, including differential interference contrast microscopy, atomic force microscopy, high-resolution X-ray diffraction, and high-resolution transmission electron microscopy. The high-quality superlattice structure, with a total thickness of 1.5 μm, exhibited exceptional surface morphology with a root-mean-square roughness of 0.141 nm over a 5 × 5 μm2 area. Single-element devices with PIN architecture were fabricated and characterized. At 77 K, these devices demonstrated a 50% cutoff wavelength of approximately 12.1 μm. The long-wavelength infrared PIN devices exhibited promising performance metrics, including a dark current density of 7.96 × 10−2 A/cm2 at −50 mV bias and a high peak responsivity of 4.90 A/W under zero bias conditions, both measured at 77 K. Furthermore, the devices achieved a high peak quantum efficiency of 65% and a specific detectivity (D*) of 2.74 × 1010 cm·Hz1/2/W at the peak responsivity wavelength of 10.7 µm. These results demonstrate the viability of this material system for long-wavelength infrared detection applications. Full article
(This article belongs to the Section Nanoelectronics, Nanosensors and Devices)
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41 pages, 3816 KiB  
Review
Updates on the Advantages and Disadvantages of Microscopic and Spectroscopic Characterization of Magnetotactic Bacteria for Biosensor Applications
by Natalia Lorela Paul, Catalin Ovidiu Popa and Rodica Elena Ionescu
Biosensors 2025, 15(8), 472; https://doi.org/10.3390/bios15080472 - 22 Jul 2025
Viewed by 381
Abstract
Magnetotactic bacteria (MTB), a unique group of Gram-negative prokaryotes, have the remarkable ability to biomineralize magnetic nanoparticles (MNPs) intracellularly, making them promising candidates for various biomedical applications such as biosensors, drug delivery, imaging contrast agents, and cancer-targeted therapies. To fully exploit the potential [...] Read more.
Magnetotactic bacteria (MTB), a unique group of Gram-negative prokaryotes, have the remarkable ability to biomineralize magnetic nanoparticles (MNPs) intracellularly, making them promising candidates for various biomedical applications such as biosensors, drug delivery, imaging contrast agents, and cancer-targeted therapies. To fully exploit the potential of MTB, a precise understanding of the structural, surface, and functional properties of these biologically produced nanoparticles is required. Given these concerns, this review provides a focused synthesis of the most widely used microscopic and spectroscopic methods applied in the characterization of MTB and their associated MNPs, covering the latest research from January 2022 to May 2025. Specifically, various optical microscopy techniques (e.g., transmission electron microscopy (TEM), scanning electron microscopy (SEM), and atomic force microscopy (AFM)) and spectroscopic approaches (e.g., localized surface plasmon resonance (LSPR), surface-enhanced Raman scattering (SERS), and X-ray photoelectron spectroscopy (XPS)) relevant to ultrasensitive MTB biosensor development are herein discussed and compared in term of their advantages and disadvantages. Overall, the novelty of this work lies in its clarity and structure, aiming to consolidate and simplify access to the most current and effective characterization techniques. Furthermore, several gaps in the characterization methods of MTB were identified, and new directions of methods that can be integrated into the study, analysis, and characterization of these bacteria are suggested in exhaustive manner. Finally, to the authors’ knowledge, this is the first comprehensive overview of characterization techniques that could serve as a practical resource for both younger and more experienced researchers seeking to optimize the use of MTB in the development of advanced biosensing systems and other biomedical tools. Full article
(This article belongs to the Special Issue Material-Based Biosensors and Biosensing Strategies)
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27 pages, 4412 KiB  
Review
Coupling Agents in Acoustofluidics: Mechanisms, Materials, and Applications
by Shenhao Deng, Yiting Yang, Menghui Huang, Cheyu Wang, Enze Guo, Jingui Qian and Joshua E.-Y. Lee
Micromachines 2025, 16(7), 823; https://doi.org/10.3390/mi16070823 - 19 Jul 2025
Viewed by 404
Abstract
Acoustic coupling agents serve as critical interfacial materials connecting piezoelectric transducers with microfluidic chips in acoustofluidic systems. Their performance directly impacts acoustic wave transmission efficiency, device reusability, and reliability in biomedical applications. Considering the rapidly growing body of research in the field of [...] Read more.
Acoustic coupling agents serve as critical interfacial materials connecting piezoelectric transducers with microfluidic chips in acoustofluidic systems. Their performance directly impacts acoustic wave transmission efficiency, device reusability, and reliability in biomedical applications. Considering the rapidly growing body of research in the field of acoustic microfluidics, this review aims to serve as an all-in-one reference on the role of acoustic coupling agents and relevant considerations pertinent to acoustofluidic devices for anyone working in or seeking to enter the field of disposable acoustofluidic devices. To this end, this review seeks to summarize and categorize key aspects of acoustic couplants in the implementation of acoustofluidic devices by examining their underlying physical mechanisms, material classifications, and core applications of coupling agents in acoustofluidics. Gel-based coupling agents are particularly favored for their long-term stability, high coupling efficiency, and ease of preparation, making them integral to acoustic flow control applications. In practice, coupling agents facilitate microparticle trapping, droplet manipulation, and biosample sorting through acoustic impedance matching and wave mode conversion (e.g., Rayleigh-to-Lamb waves). Their thickness and acoustic properties (sound velocity, attenuation coefficient) further modulate sound field distribution to optimize acoustic radiation forces and thermal effects. However, challenges remain regarding stability (evaporation, thermal degradation) and chip compatibility. Further aspects of research into gel-based agents requiring attention include multilayer coupled designs, dynamic thickness control, and enhancing biocompatibility to advance acoustofluidic technologies in point-of-care diagnostics and high-throughput analysis. Full article
(This article belongs to the Special Issue Recent Development of Micro/Nanofluidic Devices, 2nd Edition)
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39 pages, 1774 KiB  
Review
FACTS Controllers’ Contribution for Load Frequency Control, Voltage Stability and Congestion Management in Deregulated Power Systems over Time: A Comprehensive Review
by Muhammad Asad, Muhammad Faizan, Pericle Zanchetta and José Ángel Sánchez-Fernández
Appl. Sci. 2025, 15(14), 8039; https://doi.org/10.3390/app15148039 - 18 Jul 2025
Viewed by 388
Abstract
Incremental energy demand, environmental constraints, restrictions in the availability of energy resources, economic conditions, and political impact prompt the power sector toward deregulation. In addition to these impediments, electric power competition for power quality, reliability, availability, and cost forces utilities to maximize utilization [...] Read more.
Incremental energy demand, environmental constraints, restrictions in the availability of energy resources, economic conditions, and political impact prompt the power sector toward deregulation. In addition to these impediments, electric power competition for power quality, reliability, availability, and cost forces utilities to maximize utilization of the existing infrastructure by flowing power on transmission lines near to their thermal limits. All these factors introduce problems related to power network stability, reliability, quality, congestion management, and security in restructured power systems. To overcome these problems, power-electronics-based FACTS devices are one of the beneficial solutions at present. In this review paper, the significant role of FACTS devices in restructured power networks and their technical benefits against various power system problems such as load frequency control, voltage stability, and congestion management will be presented. In addition, an extensive discussion about the comparison between different FACTS devices (series, shunt, and their combination) and comparison between various optimization techniques (classical, analytical, hybrid, and meta-heuristics) that support FACTS devices to achieve their respective benefits is presented in this paper. Generally, it is concluded that third-generation FACTS controllers are more popular to mitigate various power system problems (i.e., load frequency control, voltage stability, and congestion management). Moreover, a combination of multiple FACTS devices, with or without energy storage devices, is more beneficial compared to their individual usage. However, this is not commonly adopted in small power systems due to high installation or maintenance costs. Therefore, there is a trade-off between the selection and cost of FACTS devices to minimize the power system problems. Likewise, meta-heuristics and hybrid optimization techniques are commonly adopted to optimize FACTS devices due to their fast convergence, robustness, higher accuracy, and flexibility. Full article
(This article belongs to the Special Issue State-of-the-Art of Power Systems)
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16 pages, 1741 KiB  
Article
Effect of Crestal Position on Bone–Implant Stress Interface of Three-Implant Splinted Prostheses: A Finite Element Analysis
by Mario Ceddia, Giulia Marchioli, Tea Romasco, Luca Comuzzi, Adriano Piattelli, Douglas A. Deporter, Natalia Di Pietro and Bartolomeo Trentadue
Materials 2025, 18(14), 3344; https://doi.org/10.3390/ma18143344 - 16 Jul 2025
Viewed by 422
Abstract
Optimizing stress distribution at the bone–implant interface is critical to enhancing the long-term biomechanical performance of dental implant systems. Vertical misalignment between splinted implants can result in elevated localized stresses, increasing the risk of material degradation and peri-implant bone resorption. This study employs [...] Read more.
Optimizing stress distribution at the bone–implant interface is critical to enhancing the long-term biomechanical performance of dental implant systems. Vertical misalignment between splinted implants can result in elevated localized stresses, increasing the risk of material degradation and peri-implant bone resorption. This study employs three-dimensional finite element analysis (FEA) to evaluate the mechanical response of peri-implant bone under oblique loading, focusing on how variations in vertical implant platform alignment influence stress transmission. Four implant configurations with different vertical placements were modeled: (A) all crestal, (B) central subcrestal with lateral crestal, (C) lateral subcrestal with central crestal, and (D) all subcrestal. A 400 N oblique load was applied at 45° simulated masticatory forces. Von Mises stress distributions were analyzed in both cortical and trabecular bone, with a physiological threshold of 100 MPa considered for cortical bone. Among the models, configuration B exhibited the highest cortical stress, exceeding the physiological threshold. In contrast, configurations with uniform vertical positioning, particularly model D, demonstrated more favorable stress dispersion and lower peak values. Stress concentrations were consistently observed at the implant–abutment interface across all configurations, identifying this area as critical for design improvements. These findings underscore the importance of precise vertical alignment in implant-supported restorations to minimize stress concentrations and improve the mechanical reliability of dental implants. The results provide valuable insights for the development of next-generation implant systems with enhanced biomechanical integration and material performance under functional loading. Full article
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18 pages, 8131 KiB  
Article
Rapid Dismantling of Aluminum Stranded Conductors: An Automated Approach
by Zhinan Cao, Jie Feng, Shijun Xie, Qian Peng, Jiahui Chen, Cheng Wen and Jigang Huang
Machines 2025, 13(7), 608; https://doi.org/10.3390/machines13070608 - 15 Jul 2025
Viewed by 264
Abstract
Currently, the dismantling of aluminum stranded conductors remains predominantly manual due to their structural complexity. To enhance the efficiency and reduce the labor intensity for dismantling aluminum stranded conductors, this study presents an innovative torque-driven dismantling method validated through dynamic simulation analysis. To [...] Read more.
Currently, the dismantling of aluminum stranded conductors remains predominantly manual due to their structural complexity. To enhance the efficiency and reduce the labor intensity for dismantling aluminum stranded conductors, this study presents an innovative torque-driven dismantling method validated through dynamic simulation analysis. To demonstrate the proposed method, a modular prototype machine that includes four main functional modules (transmission, untwisting, separation, and shearing) was developed. Experimental results from the prototype dismantling machine demonstrated that when processing JL/G3A-500/65 conductors (Sichuan Star Cable Co., Ltd., Leshan, China) under the following operational parameters—0.5 rad/s rotational speed, 10 cm extension length, 2400 N clamping force, and 40 N·m torque application—the system achieved a single-layer dismantling efficiency exceeding 98%. This represents a significant improvement in operational speed compared to traditional manual methods. The developed machine achieved collaborative control of axial feed, reverse untwisting, and automatic shearing, elevating the untwisting qualification rate to 95%. This solution provides an efficient and safe approach to conductor inspection, demonstrating substantial engineering application value. Full article
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25 pages, 7687 KiB  
Article
A Piezoelectric-Actuated Variable Stiffness Miniature Rotary Joint
by Yifan Lu, Yifei Yang, Xiangyu Ma, Ce Chen, Tong Qin, Honghao Yue and Siqi Ma
Materials 2025, 18(14), 3289; https://doi.org/10.3390/ma18143289 - 11 Jul 2025
Viewed by 439
Abstract
With the acceleration of industrialization, deformable mechanisms that can adapt to complex environments have gained widespread applications. Joints serve as carriers for transmitting forces and motions between components, and their stiffness significantly influences the static and dynamic characteristics of deformable mechanisms. A variable [...] Read more.
With the acceleration of industrialization, deformable mechanisms that can adapt to complex environments have gained widespread applications. Joints serve as carriers for transmitting forces and motions between components, and their stiffness significantly influences the static and dynamic characteristics of deformable mechanisms. A variable stiffness joint is crucial for ensuring the safety and reliability of the system, as well as for enhancing environmental adaptability. However, existing variable stiffness joints fail to meet the requirements for miniaturization, lightweight construction, and fast response. This paper proposes a piezoelectric-actuated variable stiffness miniature rotary joint featuring a compact structure, monitorable loading state, and rapid response. Given that the piezoelectric stack expands and contracts when energized, this paper proposes a transmission principle for stiffness adjustment by varying the pressure and friction between active and passive components. This joint utilizes a flexible hinge mechanism for displacement amplification and incorporates a torque sensor based on strain monitoring. A static model is developed based on piezoelectric equations and displacement amplification characteristics, and simulations confirm the feasibility of the stiffness adjustment scheme. The mechanical characteristics of various flexible hinge structures are analyzed, and the effects of piezoelectric actuation capability and external load on stiffness adjustment are examined. The experimental results demonstrate that the joint can adjust stiffness, and the sensor is calibrated using the least squares algorithm to monitor the stress state of the joint in real time. Full article
(This article belongs to the Special Issue Advanced Design and Synthesis in Piezoelectric Smart Materials)
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27 pages, 6183 KiB  
Article
A Cartesian Parallel Mechanism for Initial Sonography Training
by Mykhailo Riabtsev, Jean-Michel Guilhem, Victor Petuya, Mónica Urizar and Med Amine Laribi
Robotics 2025, 14(7), 95; https://doi.org/10.3390/robotics14070095 - 10 Jul 2025
Viewed by 269
Abstract
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 [...] Read more.
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 article belongs to the Section Medical Robotics and Service Robotics)
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19 pages, 4711 KiB  
Article
Dynamical Analysis and Optimization of Combined Vibration Isolator with Time Delay
by Yaowei Wang and Xiangyu Li
Mathematics 2025, 13(13), 2188; https://doi.org/10.3390/math13132188 - 4 Jul 2025
Viewed by 238
Abstract
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 [...] Read more.
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
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