In order to improve the dynamic performance of legged robots, this paper proposes a method for optimizing the parameters of the leg mechanism based on dynamic motion. The proposed method consists of two key parts as follows: support mechanism optimiz...
In this paper, we consider the relative motion of a follower spacecraft orbiting the Earth in a near circular orbit with respect to a leader spacecraft. The relative orbital motion-control problem of the follower spacecraft is studied here. In order...
Appropriate traffic cooperation at intersections plays a crucial part in modern intelligent transportation systems. To enhance traffic efficiency at intersections, this paper establishes a cooperative motion optimization strategy that adjusts the tra...
The optimal tuning of high-order motion parameters has emerged as a promising strategy for actively controlling the kinematics/dynamics of high-speed cam mechanisms. However, accomplishing this task remains challenging with current low-order interpol...
Efficient operation of robotic manipulators in constrained workspaces requires careful coordination of robot placement, motion planning, and posture optimization. This paper presents a hierarchical optimization framework that addresses these challeng...
This study investigated the motion stability of underwater gliders and optimized their shape to enhance hydrodynamic performance. Given the critical role of stability in underwater operations, a multi-objective optimization framework was developed, f...
A system that can fly off and touches down to execute particular tasks is a flying robot. Nowadays, these flying robots are capable of flying without human control and make decisions according to the situation with the help of onboard sensors and con...
The implementation of Industry 5.0 necessitates a decrease in the energy consumption of industrial robots. This research investigates energy optimization for optimal motion planning for a dual-arm industrial robot. The objective function for the ener...
This paper presents a novel approach for analyzing and optimizing motion coupling in the coordinated operation tasks of flexible space multi-arm robots (FMSRs). The method integrates motion coupling between multiple arms and system stiffness to impro...
In this paper, an adaptive knee joint orthosis with a variable rotation center for biomimetic motion rehabilitation assistance suitable for patients with knee joint movement dysfunction is designed. Based on the kinematic information of knee joint mo...
To address the issues of large fatigue loads on key components and poor platform motion stability under the coupling effect of wind, waves, and internal excitations in semi-submersible wind turbines, this paper proposes a data-driven load suppression...
Ship motion planning constitutes the most critical part in the autonomous navigation systems of marine autonomous surface ships (MASS). Weather and ocean conditions can significantly affect their navigation, but there are relatively few studies on th...
The study is dedicated to elaborating and analyzing a technique for autonomous vehicle (AV) motion planning based on sequential trajectory and kinematics optimization. The proposed approach combines the finite element method (FEM) basics and nonlinea...
This paper presents a velocity-level approach to optimizing the parasitic motion of 3-degrees of freedom (DoFs) parallel manipulators. To achieve this objective, we first systematically derive an analytical velocity-level parasitic motion equation as...
To address the issues of low bandwidth, weak real-time performance, and poor synchronization in traditional fieldbuses for multi-axis motion control, a solution for the implementation of an EtherCAT master based on the IgH EtherCAT Master open-source...
In space gravitational wave detection, various physical effects in the spacecraft, such as self-gravity, electricity, and magnetism, will introduce undesirable parasitic stiffness. The coupling noise between stiffness and the motion states of the tes...
Maritime Autonomous Surface Ships (MASS) with advanced guidance, navigation, and control capabilities have attracted great attention in recent years. Sailing safely and efficiently are critical requirements for autonomous control of MASS. The MASS ut...
The harmonic motion of pendulum swinging centered at a pivot point is mimicked in this work. The harmonic motion’s amplitude at both side of the pivot are equal, damped, and decreased with time. This behavior is mimicked by the agents of the pe...
To address the limitations of the traditional Balancing Composite Motion Optimization (BCMO) algorithm—namely weak directional global exploration, insufficient local exploitation accuracy, and a tendency to fall into local optima with reduced p...
Underwater gliders are prevailing in oceanic observation nowadays for their flexible deployment and low cost. However, the limited onboard energy constrains their application, hence the motion pattern optimization and energy analysis are the key to m...
This article presents an alternative variant of motion planning techniques for autonomous vehicles (AVs) centered on an inverse approach that concurrently optimizes both trajectory and speed. This method emphasizes searching for a trajectory and dist...
To improve high motion accuracy and efficiency in the high-speed operation of a 4-DOF (4 degrees of freedom) redundant parallel robot, this paper introduces a trajectory planning of the parallel robot in joint space based on the twelve-phase sine jer...
In this paper, a new optimization algorithm called motion-encoded electric charged particles optimization (ECPO-ME) is developed to find moving targets using unmanned aerial vehicles (UAV). The algorithm is based on the combination of the ECPO (i.e.,...
As one of the main areas of value investing, the stock market attracts the attention of many investors. Among investors, market index movements are a focus of attention. In this paper, combining the efficient market hypothesis and the fractal market...
To achieve a high precision estimation of indoor robot motion, a tightly coupled RGB-D visual-inertial SLAM system is proposed herein based on multiple features. Most of the traditional visual SLAM methods only rely on points for feature matching and...
Bearing-only target motion analysis (BO-TMA) by batch processing remains a challenge due to the lack of information on underwater target maneuvering and the nonlinearity of sensor measurements. Traditional batch estimation for BO-TMA is mainly perfor...
This paper presents a complete planner and controller scheme to achieve balance and walking for a biped robot, which does not need to distinguish the robot’s dynamic model parameters. The high-level planner utilizes model predictive control to...
This study focuses on a wheeled mobile robot used for detection, weeding and information monitoring in agriculture. However, it is difficult to reach satisfactory motion mode switching (MMS) performance. This paper aimed at exploring the optimal cont...
In this paper, we present EC-WAMI, the first successful application of neuromorphic event cameras (ECs) for Wide-Area Motion Imagery (WAMI) and Remote Sensing (RS), showcasing their potential for advancing Structure-from-Motion (SfM) and 3D reconstru...
A target angular information in 3-dimensional space consists of an elevation angle and azimuth angle. Acoustic signals propagating along multiple paths in underwater environments usually have different elevation angles. Target motion analysis (TMA) u...
The Stirling engine is one of the most promising devices for the recovery of waste heat. Its power output can be optimized by several means, in particular by an optimized piston motion. Here, we investigate its potential performance improvements in t...
The power output of Stirling engines can be optimized by several means. In this study, the focus is on potential performance improvements that can be achieved by optimizing the piston motion of an alpha-Stirling engine in the presence of dissipative...
In this paper, an investigation is presented that demonstrates the application of a new approach for enabling the reduction of liquid slosh by implementing optimized motion profiles over a continuous range of operating speeds. Liquid slosh occurs in...
Optimal and intuitive robotic machining is still a challenge. One of the main reasons for this is the lack of robot stiffness, which is also dependent on the robot positioning in the Cartesian space. To make up for this deficiency and with the aim of...
In order to verify the reliability of drive components for industrial robots, component-level life tests must be accompanied by a system-level life test using actual robots in which predefined robot motions are repeated throughout the test. To proper...
This paper focuses on the optimal geometry and motion coordination problem of mobile bearings-only sensors for improving target tracking performance. A general optimal sensor–target geometry is derived with uniform sensor–target distance...
The recuperation of otherwise lost waste heat provides a formidable way to decrease the primary energy consumption of many technical systems. A possible route to achieve that goal is through the use of Stirling engines, which have shown to be reliabl...
Moth-flame optimization is a typical meta-heuristic algorithm, but it has the shortcomings of low-optimization accuracy and a high risk of falling into local optima. Therefore, this paper proposes an enhanced moth-flame optimization algorithm named H...
When ships conduct offshore operations in the ocean, they are subject to disturbances from natural factors such as sea breezes and waves. These disturbances lead to movements detrimental to the ship’s stability, especially heave movement in the...
Flexure-based micro-motion mechanisms activated by piezoelectric actuators have a wide range of applications in modern precision industry, due to their inherent merits. However, system performance is negatively affected by model uncertainty, disturba...
This paper investigates the optimal design of base-isolated structures equipped with tuned inerter dampers (TIDs) subjected to various ground motions. The Clough–Penzien model is employed to simulate the power spectrum of three types of ground...
Focusing on the inverse synthetic aperture radar (ISAR) imaging of targets with complex motion, this paper proposes a modified version of the Fourier transform, called non-uniform rotation transform, to achieve cross-range compression. After translat...
Model-based force control for motion and force tracking faces significant challenges on real quadruped platforms due to the apparent model inaccuracies. In this paper, we present a multi-objective optimal torque control for hydraulic quadruped robots...
Overloaded trucks contribute heavily to road damage and increased maintenance costs, and Weigh-In-Motion (WIM) systems are an effective tool for detecting them without disrupting traffic flow. However, overloaded truck drivers often adjust their rout...
The paper deals with the generation of optimal trajectories for industrial robots in machining and additive manufacturing applications. The proposed method uses an Ant Colony algorithm to solve a kinodynamic motion planning problem. It exploits the k...
The advantages of hybrid models for time series forecasting have received significant attention, and several studies focus on and test their application in the seakeeping of ship motions. A hybrid model integrating an LSTM encoder and Transformer dec...
Electrical devices are integral to daily life, but limited battery life remains a significant issue. A proposed solution is to convert dissipated energy from human motion into electricity using piezoelectric materials. This study investigates lead&nd...
This study presents the development and analysis of a technique for planning the autonomous vehicle (AV) motion references using sequential optimization. The method determines the trajectory plan, speed and acceleration distributions, and other AV ki...
In the Black and Scholes system, the underlying asset price model follows geometric Brownian motion (GBM) with no bankruptcy risk. While GBM is a commonly used model in financial markets, bankruptcy risk should be considered in the case of a severe e...
This work proposes to exploit functional redundancy as a tool to enhance the energy efficiency of a robotic system. In a functionally redundant system, i.e., one in which the number of degrees of freedom required to complete the task is smaller than...
of 93