Search Results (510)

The dynamic model of a wheeled wall-climbing robot exhibits stage-specific changes when traversing different types of obstacles and during various stages of obstacle negotiation. Previous studies often employed remote control methods for obstacle-crossing control, which fail to dynamically adjust the torque distribution of magnetic wheels in response to real-time changes in the dynamic model. This limitation makes it challenging to precisely control the robot’s speed and attitude angles during the obstacle-crossing process. To address this issue, this paper first establishes a staged dynamic model for the wall-climbing robot under typical obstacle-crossing scenarios, including steps, 90° concave corners, 90° convex corners, and thin plates. Secondly, an adaptive controller based on a radial basis function neural network (RBFNN) is designed to effectively compensate for variations and uncertainties during the obstacle-crossing process. Finally, comparative simulations and physical experiments demonstrate the effectiveness of the proposed method. The experimental results show that this method can quickly respond to the dynamic changes in the model and accurately track the trajectory, thereby improving the control precision and stability during the obstacle-crossing process. Full article

Shaded-pole induction motors are the most frequently used single-phase electric motors in low power applications. Their main advantages are reliability, robustness, low level of noise and vibration, relatively simple manufacturing technology and cost effectiveness. These motors are the driving units of choice in the applications where the variable speed and high starting torque are not of utmost importance, in spite of the fact that they are characterized by inferior efficiency, power factor and starting torque compared to their single-phase counterparts. They are equipped with auxiliary massive copper coils at the stator side, which makes them self-starting, and strongly influence the motor characteristics. This study deals with the numerical modeling and analysis of a shaded-pole induction motor with a C-shaped stator frame. The analysis was performed using 2D finite element-based transient magnetic numerical modeling. The primary objective was to investigate the influence of the number and size of the auxiliary shaded coils on the output torque speed characteristic. We explored the possibility of reducing the amount of material used while preserving the crucial/nominal properties of the motor. Our results have important implications in manufacturing simplification, which may be important for the eco-design of small motors and actuators, including their recycling and/or reuse process. Full article

Series elastic actuators (SEAs) represent a key technological solution to enhance safety, performance, and adaptability in robotic devices for physical training. Their ability to decouple the rigid actuator’s mechanical impedance from the load, combined with passive absorption of external disturbances, makes them particularly suitable for pediatric applications. In children aged 2 to 5 years—where motor control is still developing and movements can be unpredictable or unstructured—SEAs provide a compliant mechanical response that ensures user protection and enables safe physical interaction. This study explores the role of SEAs as a central component for imparting compliance and backdrivability in robotic systems designed for upper-limb training. A dynamic model is proposed, incorporating interaction with the user’s limb, along with a computed torque control strategy featuring integral action. The system’s performance is validated through simulations and experimental tests, demonstrating stable trajectory tracking, disturbance absorption, and effective impedance decoupling. The results support the use of SEAs as a foundational technology for developing safe adaptive robotic solutions in pediatric contexts capable of responding flexibly to user variability and promoting secure interaction in early motor development environments. Full article

This study aimed to monitor the operating state of an induction motor, a type of electromagnetic motor, using a highly sensitive magnetic sensor, which could be applied for anomaly detection in the future. Monitoring the health of electromagnetic motors is very important to minimize losses due to failures. Detecting anomalies using the changes compared with the initial state is a possible solution, but there are issues such as a lack of training data for machine learning and the need to install multiple sensors. Therefore, an attempt was made to acquire the various operating states of a motor from magnetic signals using a single magnetic sensor capable of non-contact measurement. The relationships between the magnetic flux density from the motor and the other motor conditions were investigated. As a result, the magnetic spectrum was found to contain information on the rotor rotation frequency, torque, and output power. Therefore, the magnetic sensor can be applied to monitor a motor’s operating conditions, making it a useful tool for advanced data analysis. Full article

This study presents a design and optimization methodology to enhance the power density and efficiency of wound field synchronous machines (WFSMs) by selectively applying grain-oriented electrical steel (GOES). Unlike conventional non-grain-oriented electrical steel (NOES), GOES exhibits significantly lower core loss along its rolling direction, making it suitable for regions with predominantly alternating magnetic fields. Based on magnetic field analysis, four machine configurations were investigated, differing in the placement of GOES within stator and rotor teeth. Finite element analysis (FEA) was employed to compare electromagnetic performance across the configurations. Subsequently, a multi-objective optimization was conducted using Latin Hypercube Sampling, meta-modeling, and a genetic algorithm to maximize power density and efficiency while minimizing torque ripple. The optimized WFSM achieved a 13.97% increase in power density and a 1.0% improvement in efficiency compared to the baseline NOES model. These results demonstrate the feasibility of applying GOES in rotating machines to reduce core loss and improve overall performance, offering a viable alternative to rare-earth permanent magnet machines in xEV applications. Full article

This study investigates how three technical factors—steering wheel tilt, torque, and cabin vibration frequency—affect driver posture. Heavy-truck drivers often suffer from musculoskeletal disorders (MSDs), mainly due to poor cabin ergonomics and prolonged postures during work. In countries like Ecuador, making major structural changes to cabin design is not feasible. These factors were identified through video analysis and surveys from drivers at two Ecuadorian trucking companies. An experimental system was developed using a simplified cabin to control these variables, while posture and muscle activity were recorded in 16 participants using motion capture, inertial sensors, and electromyography (EMG) on the upper trapezius, middle trapezius, triceps brachii, quadriceps muscle, and gastrocnemius muscle. The test protocol simulated key truck-driving tasks. Data were analyzed using ANOVA (${\displaystyle p<0.05}$), with technical factors and mass index as independent variables, and posture metrics as dependent variables. Results showed that head mass index significantly affected head abduction–adduction (${\displaystyle -}$8.12 to ${\displaystyle -}$2.18°), and spine mass index influenced spine flexion–extension (${\displaystyle -}$0.38 to 6.99°). Among technical factors, steering wheel tilt impacted trunk flexion–extension (${\displaystyle -}$13.56 to 16.99°) and arm rotation (${\displaystyle -}$31.1 to 19.7°). Steering wheel torque affected arm rotation (${\displaystyle -}$30.49 to ${\displaystyle -}$6.77°), while vibration frequency influenced forearm flexion–extension (3.76 to 16.51°). EMG signals showed little variation between muscles, likely due to the protocol’s short duration. These findings offer quantitative support for improving cabin ergonomics in low-resource settings through targeted, cost-effective design changes. Full article

This paper presents an intelligent predictive system designed to support real-time decision making in the control of rubber blend mixing processes. The core of the system is a General Regression Neural Network (GRNN), which accurately predicts key process parameters, such as viscosity (expressed as torque), temperature, and energy consumption across varying masses of the processed material. The model can evaluate the mixing progress based on the initial 10% of input data, allowing early intervention and process optimisation. Experimental validation was conducted using a Brabender Plastograph EC Plus with a natural rubber-based blend in the mass range of 60–75 g. The GRNN kernel width parameter (σ) was optimised through a 10-fold cross-validation. High predictive accuracy was confirmed by values of the coefficient of determination (R²) approaching 1, and consistently low values of the root mean square error (RMSE). This system offers a robust and scalable solution for intelligent process control, productivity enhancement, and quality assurance across diverse industrial applications, beyond rubber blending. Full article

This research paper presents a comprehensive comparison between Permanent Magnet Synchronous Motors (PMSMs) and Switched Reluctance Motors (SRMs) in the context of drone applications. The study focuses on motors designed for an output power of 500 watts, with a torque of 0.8 Nm. Simulation results demonstrate that both motor types achieve the specified power rating, exhibiting a torque output of 0.8 Nm. In this comparative analysis, key performance parameters, efficiency, and operational characteristics of PMSM and SRM are systematically evaluated. The study addresses the unique features and challenges associated with each motor type, providing valuable insights for optimizing drone propulsion systems. Additionally, the influence of these motor choices on drone efficiency, weight, and overall performance is discussed. The research contributes to the understanding of motor selection in drone design, offering practical guidance for engineers and researchers involved in unmanned aerial vehicle development. As drone applications continue to diversify, this comparative study aids in making informed decisions regarding motor technologies, balancing power requirements, and maximizing operational efficiency. Full article

This paper analyzes the electromagnetic characteristics of an interior permanent magnet synchronous motor (IPMSM) for electric vehicle traction under various control imbalance conditions in a twin inverter system, assuming that one of the inverters fails to operate properly. The imbalance conditions are first investigated through dynamometer experiments and then applied to finite element method (FEM) simulations to evaluate their electromagnetic effects. Since the focus is on scenarios where a single inverter malfunctions, a stator winding configuration is first redefined to ensure stable operation in a single inverter system by preventing voltage and current imbalances within the circuit. When the stator winding is configured with eight parallel paths, the dynamometer test results show a phase voltage imbalance. However, when the number of parallel circuits is reduced to four, this voltage imbalance disappears. Using this configuration, a twin inverter system is constructed, and various imbalance conditions are applied to intuitively examine the electromagnetic characteristics when one inverter fails to accurately control current magnitude or phase angle. The simulation results showed that applying unbalanced conditions to the current and current phase angle led to a decrease in torque and an increase in torque ripple. In addition, when one of the inverters was completely disconnected, the motor performance analysis showed that it operated with approximately half of its original performance. Based on dynamometer experiments and finite element method (FEM) simulations, the electromagnetic characteristics under inverter fault conditions and appropriate stator winding configurations were analyzed. When an optimal number of parallel circuits is applied to the stator winding and a twin inverter system is employed, the load on each individual inverter is reduced, enabling accurate control. This makes the application to high-voltage and high-current systems feasible, allowing higher performance. Moreover, even if one inverter fails, the system can still operate at approximately half its capacity, ensuring high operational reliability. Full article

This study proposes an automatic gear shift classification algorithm in M1 category vehicles using data acquired through the onboard diagnostic system (OBD II) and GPS. The proposed approach is based on the analysis of identification parameters (PIDs), such as manifold absolute pressure (MAP), revolutions per minute (RPM), vehicle speed (VSS), torque, power, stall times, and longitudinal dynamics, to determine the efficiency and behavior of the vehicle in each of its gears. In addition, the unsupervised K-means algorithm was implemented to analyze vehicle gear changes, identify driving patterns, and segment the data into meaningful groups. Machine learning techniques, including K-Nearest Neighbors (KNN), decision trees, logistic regression, and Support Vector Machines (SVMs), were employed to classify gear shifts accurately. After a thorough evaluation, the KNN (Fine KNN) model proved to be the most effective, achieving an accuracy of 99.7%, an error rate of 0.3%, a precision of 99.8%, a recall of 99.7%, and an F1-score of 99.8%, outperforming other models in terms of accuracy, robustness, and balance between metrics. A multiple linear regression model was developed to estimate instantaneous fuel consumption (in L/100 km) using the gear predicted by the KNN algorithm and other relevant variables. The model, built on over 66,000 valid observations, achieved an R² of 0.897 and a root mean square error (RMSE) of 2.06, indicating a strong fit. Results showed that higher gears (3, 4, and 5) are associated with lower fuel consumption. In contrast, a neutral gear presented the highest levels of consumption and variability, especially during prolonged idling periods in heavy traffic conditions. In future work, we propose integrating this algorithm into driver assistance systems (ADAS) and exploring its applicability in autonomous vehicles to enhance real-time decision making. Such integration could optimize gear shift timing based on dynamic factors like road conditions, traffic density, and driver behavior, ultimately contributing to improved fuel efficiency and overall vehicle performance. Full article

Recently, as carbon emission regulations enforced by the International Maritime Organization (IMO) have become stricter and pressure from the World Trade Organization (WTO) to abolish tax-free fuel subsidies has increased, the demand for electric propulsion systems in the marine sector has grown. Most small domestic fishing vessels rely on tax-free fuel and have limited cruising ranges and constant-speed operation, which makes them well-suited for electric propulsion. This paper proposes replacing the internal combustion engine system of such vessels with an electric propulsion system. Based on real operating conditions, an Interior Permanent Magnet Synchronous Motor (IPMSM) was designed and optimized. The Savitsky method was used to calculate total resistance at a typical cruising speed, from which the required torque and output were determined. To reduce torque ripple, an asymmetric dummy slot structure was proposed, with two dummy slots of different widths and depths placed in each stator slot. These dimensions, along with the magnet angle, were set as optimization parameters, and a metamodel-based optimal design was carried out. As a result, while meeting the design constraints, torque ripple decreased by 2.91% and the total harmonic distortion (THD) of the back-EMF was lowered by 1.32%. Full article

Torque and velocity fluctuations in internal combustion engines (ICEs), particularly during idle and low-speed operation, can reduce efficiency, increase vibration, and impose mechanical stress on coupled systems. This work presents the design, simulation, and experimental validation of a passive balancing cam mechanism developed to mitigate fluctuations in single-cylinder internal combustion engines (ICEs). The system consists of a cam and a spring-loaded follower that synchronizes with the engine cycle to store and release energy, generating a compensatory torque that stabilizes rotational speed. The mechanism was implemented on a single-cylinder Honda^® engine and evaluated through simulations and laboratory tests under idle conditions. Results demonstrate a reduction in torque ripple amplitude of approximately 54% and standard deviation of 50%, as well as a decrease in angular speed fluctuation amplitude of about 43% and standard deviation of 42%, resulting in significantly smoother engine behavior. These improvements also address longstanding limitations in traditional powertrains, which often rely on heavy flywheels or electronically controlled dampers to manage rotational irregularities. Such solutions increase system complexity, weight, and energy losses. In contrast, the proposed passive mechanism offers a simpler, more efficient alternative, requiring no external control or energy input. Its effectiveness in stabilizing engine output makes it especially suited for integration into hybrid electric systems, where consistent generator performance and low mechanical noise are critical for efficient battery charging and protection of sensitive electronic components. Full article

Background: This study aimed to evaluate the influence of a screw coating on the screw preload and removal torque value (RTV) with and without the application of a cyclic load (CL) to make screws with greater untightening resistance to prevent screw loosening. Methods: Ninety complexes composed of implants, abutments, and prosthetic screws were examined and tested under CL oral conditions (n = 45) and non-CL conditions (nCL, n = 45). Each group was divided into three subgroups (n = 15): a control group (CG) without a screw coating, a GapSeal^®-coated screw group (GG), and a polytetrafluoroethylene (PTFE) tape-wrapped screw group (PG). All screws were tightened at 30 Ncm, and the preload was recorded. In the nCL group, the screws were untightened to record the RTV. In the CL group, the screws were tightened, subjected to a CL in distillated water at a temperature of 37 °C, and then untightened to record the RTV. Micro-Ct analysis was conducted on two samples from each group before CL. SEM analyses of two samples per subgroup before and after CL were also performed. Results: The preload in the PG was significantly lower under nCL (29.92 Ncm) compared with CG (30.95 Ncm) and GG (31.19 Ncm) and also under a CL (PG: 30.92 Ncm) compared with CG (31.72 Ncm) and GG (31.42 Ncm). The RTVs of the PG were significantly lower under nCL (15.30 Ncm) compared with CG (27.98 Ncm) and GG (28.46 Ncm). Under CL, the RTVs of the PG were significantly higher (31.50 Ncm) compared with CG (26.00 Ncm) and GG (27.44 Ncm). Conclusions: Wrapping the screw with PTFE tape significantly reduced the preload but resulted in a significantly greater RTV under CL conditions in the simulated oral environment, suggesting that this could be a solution to decrease the risk of screw loosening. Full article

Given the complex mechanism of surface settlement induced by shield tunneling, accurate prediction of surface settlement and rational design of tunneling parameters are critical for ensuring safe and efficient tunneling operations. To address the limitations of the Informer algorithm in predicting surface settlement during shield tunneling, the standard convolution was replaced with dilated causal convolution, and three measures were employed: soil layer classification and characterization, a moving prediction window, and special factor handling. An improved Informer algorithm was developed. The prediction time of the improved Informer algorithm was reduced by up to 30.64% compared to the original algorithm. The improved Informer algorithm exhibited significant enhancements in prediction accuracy, perception range across different timescales, and computational efficiency. Compared with random forest and long short-term memory algorithms, the improved Informer algorithm achieved superior performance, making it more suitable for predicting surface settlement induced by shield tunneling. By integrating the improved Informer algorithm with Shapley additive explanations theory, the contributions of shield tunneling parameters to surface settlement were analyzed. A multi-objective optimization algorithm was constructed for the shield tunneling parameters. Key parameters, including the shield thrust, cutterhead torque, and tunneling speed, were selected for optimization. The surface settlement after parameter optimization was reduced by 16.79%. Full article

This paper introduces a novel fractional-order fuzzy logic controller (FOFLC) designed for stator voltage control in standalone doubly fed induction generator (DFIG) systems used in wind energy applications. Unlike traditional fuzzy logic controllers (FLCs), which are limited by integer-order dynamics, the FOFLC leverages the advanced principles of fractional-order (FO) calculus. By integrating fuzzy logic with fractional-order operators, the FOFLC enhances system precision, adaptability, and interpretability while addressing the inherent limitations of conventional proportional-integral (PI) controllers and integer-order FLCs. A key innovation of the FOFLC is its dual-mode architecture, enabling it to operate seamlessly as either a traditional FLC or a fractional-order FOFLC controller. This versatility allows for independent tuning of fractional parameters, optimizing the system’s response to transients, steady-state errors, and disturbances. The controller’s flexibility makes it particularly well-suited for nonlinear and dynamically complex stand-alone renewable energy systems. The FOFLC is experimentally validated on a 3-kW DFIG test bench using the dSPACE-1104 platform under various operating conditions. Compared to a conventional PI controller, the FOFLC demonstrated superior performance, achieving 80% reduction in response time, eliminating voltage overshoot and undershoot, reducing stator power and torque ripples by over 46%, and decreasing total harmonic distortion (THD) of both stator voltage and current by more than 50%. These results confirm the FOFLC’s potential as a robust and adaptive control solution for stand-alone renewable energy systems, ensuring high-quality power output and reliable operation. Full article