Search Results (49)

Excavators are critical equipment in mining, construction, and other fields. The four-point contact slewing bearings used in their slewing mechanisms operate under harsh conditions such as heavy loads and impacts. Furthermore, the bearing rings are prone to elliptical deformation after installation, making them susceptible to premature failure. To address this issue, this paper establishes a mechanical bearing model to investigate the load distribution among balls and the fatigue life of the bearing under elliptical deformation of the rings. It systematically analyzes the influence of key design parameters. The research finds that elliptical deformation of the rings leads to contact angle deviation and a reduction in load-bearing balls, resulting in severe degradation of bearing fatigue life; therefore, its occurrence must be strictly controlled. Designing with a groove curvature radius coefficient within the range of 0.51 to 0.52 achieves an optimal balance between fatigue life and the four-point contact geometry of the balls. There exists an “optimal clearance” that maximizes bearing fatigue life; when considering significant elliptical deformation, the clearance design should be appropriately increased. Increasing the design contact angle enhances load capacity and helps mitigate the effects of elliptical deformation. However, an excessively large contact angle can cause ellipse truncation in the raceway contact zone; thus, the contact angle should be designed based on practical conditions. Increasing the number of balls can improve the influence of ovality on load distribution and enhance the bearing’s fatigue life. This study provides a theoretical reference for the design of high-reliability slewing bearings for excavators. Full article

This work presents an experimental evaluation of a high-speed analog-to-digital conversion method based on passive reference waveform crossings combined with time-to-digital converter (TDC) time-tagging. Unlike conventional level-crossing event-driven analog-to-digital converters (ADCs) that require dynamically updated digital-to-analog converters (DACs), the proposed architecture compares the input waveform against a broadband periodic sampling function without active threshold control. Crossing instants are detected by a high-speed comparator and converted into rising and falling edge timestamps using a multi-channel TDC. A commercial ScioSense GPX2-based time-tagger with 30 ps single-shot precision was used for validation. A range of test signals—including 5 MHz sine, sawtooth, damped sine, and frequency-modulated chirp waveforms—were acquired using triangular, sinusoidal, and sawtooth sampling functions. Stroboscopic sampling was demonstrated using reference frequencies lower than the signal of interest, enabling effective undersampling of periodic radio frequency (RF) waveforms. The method achieved effective bandwidths approaching 100 MHz, with amplitude reconstruction errors of 0.05–0.30 RMS for sinusoidal signals and 0.15–0.40 RMS for sawtooth signals. Timing jitter showed strong dependence on the relative slope between the acquired waveform and sampling function: steep regions produced jitter near 5 ns, while shallow regions exhibited jitter up to 20 ns. The study has several limitations, including the bandwidth and dead-time constraints of the commercial TDC, the finite slew rate and noise of the comparator front-end, and the limited frequency range of the generated sampling functions. These factors influence the achievable timing precision and reconstruction accuracy, especially in low-gradient signal regions. Overall, the passive waveform-crossing method demonstrates strong potential for wideband, sparse, and rapidly varying signals, with natural scalability to multi-channel systems. Potential application domains include RF acquisition, ultra-wideband (UWB) radar, integrated sensing and communication (ISAC) systems, high-speed instrumentation, and wideband timed antenna arrays. Full article

With the advancement of intelligent technologies, industrial production systems are being profoundly transformed by artificial intelligence algorithms. To address persistent challenges, such as cargo swing and low operational efficiency during the lifting processes of all-terrain cranes, this research investigates an intelligent control algorithm designed for swing suppression and high-stability payload trajectory control. Firstly, a nonlinear dynamic model of the crane system was derived using the Euler–Lagrange formulation based on a simplified three-dimensional representation. A linear time-varying model predictive control (LTV-MPC) strategy was then designed to incorporate real-time feedback during luffing and slewing motions to monitor the payload’s swing state. On this basis, the controller predicts the desired trajectory and applies negative feedback to adjust the control input, thereby steering the system toward the optimal trajectory and aligning it with the target path. Secondly, a comparative analysis was conducted among four scenarios: the natural swing state of the payload and three control strategies—LTV-MPC, sliding mode control (SMC), and PID control—under both single-input and dual-input conditions. Finally, an experimental platform was established, employing the YOLOv12 algorithm for real-time detection and trajectory tracking of the suspended payload. The experimental results validate the effectiveness of LTV-MPC in suppressing cargo swing. Under single-input control, LTV-MPC achieved the best performance in both stabilization time (3.05 s for luffing condition one and 1.15 s for luffing condition two) and steady-state error (0.003–0.007°). The swing angle, θ₁, was reduced by 91.9%, 54.2%, and 59.3% compared to the natural swing state, SMC, and PID, respectively. In dual-input control, LTV-MPC attained a steady-state error of only 0.0008° under “luffing condition two,” while during slewing operations, it also outperformed SMC and PID in both settling time (26.05 s) and precision (0.008°). Full article

Triboelectric nanogenerators (TENGs) offer intrinsically high open-circuit voltages in the kilovolt range; however, conventional diode rectifier interfaces clamp the voltage prematurely, restricting access to the high-energy portion of the mechanical cycle and preventing delivery-centric control. This work develops a unified physical basis for contact–separation (CS) TENGs by confirming the consistency of the canonical $V_{oc}$–$C_s$ relation with a dual-capacitor energy model and analytically establishing that both terminal voltage and storable electrostatic energy peak near maximum plate separation. Leveraging this insight, a self-powered gas-discharge-tube (GDT) rectifier bridge is devised to replace two diodes and autonomously trigger conduction exclusively in the high-voltage window without auxiliary bias. An inductive buffer regulates the current slew rate and reduces $I^{2}R$ loss, while the proposed topology realizes two decoupled power rails from a single CS-TENG, enabling simultaneous sensing/processing and actuation. A low-power microcontroller is powered from one rail through an energy-harvesting module and executes an operator-based nonlinear controller to regulate the actuator-side rail via a MOSFET–resistor path. Experimental results demonstrate earlier and higher-efficiency energy transfer compared with a diode-bridge baseline, robust dual-rail decoupling under dynamic loading, and accurate closed-loop voltage tracking with negligible computational and energy overhead. These findings confirm the practicality of the proposed self-powered architecture and highlight the feasibility of integrating operator-theoretic control into TENG-driven rectifier interfaces, advancing delivery-oriented power extraction from high-voltage TENG sources. Full article

Hydraulically Amplified Self-Healing Electrostatic (HASEL) actuators promise a future of adaptive robotics in a world where robotics is becoming increasingly integrated into our daily lives. Adaptive robotics needs to control multiple outputs with precision and speed. Unfortunately, expensive High Voltage control restricts the development of the HASEL actuator for commercial applications. This paper demonstrates a low-cost multi-channel High Voltage Power Supply (HVPS). The HVPS takes a 6 V input and controls multiple HASEL actuators from 0 to 10 kV, with a slew rate of up to 117.7 kV/s. In addition to controlling multiple channels, the low-cost HVPS can control two outputs with a single control module in an alternating pattern, similar to the way muscles control movement in alternating sequences—e.g., biceps and triceps. Previous work has shown that this low-cost HVPS is 95% cheaper than other power supplies used in the field of HASEL actuators. This work builds on the work reducing the cost of the HVPS by an additional 40%. This low-cost HVPS also reduces the amount of input required for control from four PWMs to one PWM with enable pins, drastically improving the performance of the device for multi-channel operation. Full article

Active-control coils on Keda Torus eXperiment (KTX) are used to suppress error fields and mitigate MHD instabilities, thereby extending discharge duration and improving plasma confinement quality. Achieving effective active MHD control imposes stringent requirements on the coil power supplies: wide-bandwidth and high-precision current regulation, deterministic low-latency response, and tightly synchronized operation across 136 independently driven coils. Specifically, the supplies must deliver up to ±200 A with fast slew rates and bandwidths up to several kilohertz, while ensuring sub-100 μs control latency, programmable waveforms, and inter-channel synchronization for real-time feedback. These demands make the power supply architecture a key enabling technology and motivate this work. This paper presents the design and simulation of the KTX active-control coil power supply. The system adopts a modular AC–DC–AC topology with energy storage: grid-fed rectifiers charge DC-link capacitor banks, each H-bridge IGBT converter (20 kHz) independently drives one coil, and an EMC filter shapes the output current. Matlab/Simulink R2025b simulations under DC, sinusoidal, and arbitrary current references demonstrate rapid tracking up to the target bandwidth with ±0.5 A ripple at 200 A and limited DC-link voltage droop (≤10%) from an 800 V, 50 mF storage bank. The results verify the feasibility of the proposed scheme and provide a solid basis for real-time multi-coil active MHD control on KTX while reducing instantaneous grid loading through energy storage. Full article

This paper presents a high-efficiency, nW-level operational transconductance amplifier (OTA) capable of operating at 0.3 V with rail-to-rail input and output. The design utilizes a bulk-driven technique in the input stage to extend the common-mode input range under ultra-low-voltage conditions. A simplified intermediate stage ensures reliable MOS operation at ultra-low-voltage levels while reducing power consumption, and a modified Class-AB controlled output stage facilitates rail-to-rail output and enhances current efficiency. Fabricated using SMIC 0.18 $\mathsf{\mu }$m technology and operating at a 0.3 V supply, the OTA achieves a DC gain of 63.07 dB, phase margin of 61.5°, a gain-bandwidth product of 37.68 kHz, and a slew rate of 21.85 V/ms while consuming only 123 nW with a 60 pF load. The design also demonstrates superior small-signal figures of merit (12.25 MHz·pF/$\mathsf{\mu }$W) and large-signal figures of merit (10.66 V/$\mathsf{\mu }$s·pF/$\mathsf{\mu }$W) compared to state-of-the-art low-voltage OTAs. These results indicate that the proposed amplifier offers a balanced solution of low power consumption, wide bandwidth, and high slew rate, making it well-suited for energy-constrained applications such as portable electronics, IoT sensors, and biomedical devices. Full article

In light of the large and fast-growing use of power electronics in electrical generation, distribution and utilization systems, and with the focus on electrified transportation, evaluating the significance of testing insulation systems for design and quality control under AC sinusoidal or power electronics waveforms is a due knowledge step. This paper has a twofold aim. One is presenting a procedure for the comparison between two insulation system solutions for partial discharge, PD, free design, referring to motorettes of a MV speed-controlled motor. The other is to carry out an evaluation of the most effective testing waveform, from AC sinusoidal to AC modulated (PWM), varying the number of inverter levels and switching the slew rate. It is shown that AC sinusoidal is effective for a qualitative evaluation of insulation system design as regards partial discharge risk, but PD inception voltage can be significantly dependent on supply voltage waveforms. Hence, if quantitative estimation of partial discharge inception voltage is requested, for design and quality control purposes, PWM waveforms as close as possible to those planned under operation should be used. Full article

The rest-to-rest control of a robotic structure having one or more flexible modes while performing a slew maneuver is a challenging problem. In fact, quite a few articles discussed the optimal rest-to-rest slewing solution for various systems. However, the planning of rest-to-rest maneuvers under the influence of uncertainty has not yet been properly analyzed. This article first solves the minimum-time rest-to-rest slewing control problem under uncertainty for an undamped planar spacecraft model with a single flexible mode. Then, it performs tests similar to the Sobol’ indices using analytical formulations and presents a numerical example to understand the contribution of each variance to the overall variance. Full article

The novel concept of reliable voltage balancing on N fast high-voltage (HV) transistors, connected in series, is verified by computer modeling/experimental testing. The essence of the concept is to transfer the balancing function from conventional snubbers, resistive dividers, varistors, etc., or sophisticated gate-side control techniques, to “individual” resistive loads (of transistors) connected to “individual” HV sources of power. The concept has been implemented in the recently patented architecture of HV rectangular pulse generators. The operation of any series-connected stack requires (1) synchronization of control actions on gates of all N transistors; (2) static HV balancing on all transistors in OFF states; and (3) dynamic HV balancing during ON↔OFF transients. The goals of the new design are to achieve an exceptionally high level of HV balancing in modes (2) and (3), as well as to simplify the process of configuring/customizing the circuit. Testing confirms that new generators exhibit minimal ripple during ON→OFF transients. Reliable operation with high-quality rectangular pulses is ensured even at a voltage slew rate of more than 100 kV/µs, while each transistor blocks a voltage close to the maximum value specified in its datasheet. The presented novelties are likely suitable for high-speed instrumentation. Full article

Integrated circuits are the core building components of virtually all communication systems. Wireless communication systems are becoming increasingly common. They require specialized transmission components to reduce electromagnetic interference. This paper presents the design of a trapezoidal waveform generator intended for generation of waveforms with limited level and spectrum of radiated interference This limitation is important because the discussed circuit is a high-voltage function block that can drive the output antenna with relatively high-power pulses. The introduced design is based on a mix of low- and high-voltage devices; however, most of them operate in low-voltage steady and near steady conditions. The implemented design flow includes safe operating area controls, which result in the implementation of a set of overvoltage devices. The designed generator provides means of frequency and slew rate control and can produce high-quality output waveforms. The results show that this type of design can be further optimized for generating waveforms with a limited range of slew rate values. Moreover, this paper presents some operational aspects and phenomena that must be addressed to provide a design that can be practically implemented in modern high-voltage integrated circuits. Full article

The mechanisms and interactive effects of multiple operating parameters of tower cranes on load swing are not yet clear, which leads to the exacerbation of load swing during the lifting process due to improper control parameter settings. To address this issue, this paper establishes an electromechanical rigid-flexible coupling (EMRFC) model for tower cranes to accurately simulate the characteristics of load swing caused by flexible transmission and electromechanical nonlinear coupling. Furthermore, the Sobol sensitivity method is used to screen out the dominant and interactive operating parameters affecting load swing, and to reveal the patterns of their impact on load swing. The results show that the stiffness of the flexible transmission system has a significant impact on the load swing, which cannot be neglected in modeling and analysis. Among the dominant operating parameters, the lifting height has the greatest effect on load swing. Lifting height, luffing speed, and slewing speed show significant interactions on load swing, and the interactions make a significant difference to the load swing in different operating phases. Finally, this paper gives the reasonable interval of operation parameters of a hoisting operation under the composite working condition, which provides a scientific basis and theoretical guidance for intelligent control of tower crane operation. Full article

This study focuses on the slewing and vibration suppression of flexible single-link manipulators. While extensive research has been conducted on such systems, few studies have experimentally validated their theoretical models. To address this gap, an experimental setup is developed, connecting the flexible link to a zero-backlash worm gear and further attaching it to the rotor shaft of the AC servomotor. The worm gear’s characteristics isolate the link’s vibrations from the rotor’s angular motion, enabling independent design of the vibration controller and slewing control. This approach facilitates simultaneous accurate trajectory tracking and vibration suppression. An active vibration control algorithm is implemented based on an accurate dynamic model. This research encompasses dynamic modeling, slewing control, and vibration control for the system. Theoretical predictions are compared with experimental results to validate both the theoretical model and the proposed vibration control algorithm. Full article

Oscillating grease-lubricated slewing bearings are used in several applications. One of the most demanding and challenging is the rotor blade bearings of wind turbines. They allow the rotor blades to be turned to control the rotational speed and loads of the complete turbine. The operating conditions of blade bearings can lead to lubricant starvation of the contacts between rolling elements and raceways, which can result in wear damages like false brinelling. Variable oscillating amplitudes, load distributions, and the grease properties influence the likelihood of wear occurrence. Currently, there are no methods for rating this risk based on existing standards. This work develops an empirical methodology for assessing and quantifying the risk of wear damage. Experimental results of small-scale blade bearings show that the proposed methodology performs well in predicting wear damage and its progression on the raceways. Ultimately, the methods proposed here can be used to incorporate on-demand lubrication runs of pitch bearings, which would make turbine operation more reliable and cost-efficient. Full article

DC–DC buck converters have been designed by incorporating different control stages to drive the switches. Among the most commonly used controllers, the sliding mode control (SMC) and proportional-integral-derivative (PID) controller have shown advantages in accomplishing fast slew rate, reducing settling time and mitigating overshoot. The proposed work introduces the implementation of both SMC and PID controllers by using the field-programmable gate array (FPGA) device. The FPGA is chosen to exploit its main advantage for fast verification and prototyping of the controllers. In this manner, a DC–DC buck converter is emulated on an FPGA by applying an explicit multi-step numerical method. The SMC controller is synthesized into the FPGA by using a signum function, and the PID is synthesized by applying the difference quotient method to approximate the derivative action, and the second-order Adams–Bashforth method to approximate the integral action. The FPGA synthesis of the converter and controllers is performed by designing digital blocks using computer arithmetic of 32 and 64 bits, in fixed-point format. The experimental results are shown on an oscilloscope by using a digital-to-analog converter to observe the voltage regulation generated by the SMC and PID controllers on the DC–DC buck converter. Full article