2022 February - 36 articles
A control design is presented for a cable driven parallel manipulator for performing a controlled motion assistance of a human ankle. Requirements are discussed for a portable, comfortable, and light-weight solution of a wearable device with an overa...
In this paper, the implementation of a robotic painting system using a sponge and the watercolor painting technique is presented. A collection of tools for calibration and sponge support operations was designed and built. A contour-filling algorithm...
Path tracking is a key technique for intelligent electric vehicles, while four-wheel steering (4WS) technology is of great significance to improve its accuracy and flexibility. However, the control methods commonly used in path tracking for a 4WS veh...
The accurate estimation of the tyre-road peak friction coefficient is the key basis for the normal operation of the vehicle active safety control system. The estimation algorithm needs to be able to adapt to various conditions encountered in the actu...
The better application of crawl robots depends on their ability to adapt to unstructured environments with significant variations in their structural shape and size. This paper presents the design and analysis of a novel robot with different locomoti...
The paper proposes a novel data-driven approximation kinematic (DAK) model to estimate the shape and opening level of a PneuNets soft gripper in relation to the applied pressure signal. The model offers suitable capabilities for implementing in real-...
Passive rotors are often limited in rotational speed due to bearing constraints, stability and excessive vibration levels. To address the vibration issue, Active Magnetic Bearings (AMBs) levitating the rotor with a magnetic field can be used. They of...
Cable failure is an extremely critical situation in the operation of cable-driven parallel robots (CDPR), as the robot might be instantly outside of its predefined workspace. Therefore, the calculation of a cable force distribution might fail and, th...
A rigid in-plane matrix of suction cups is widely used in robotic end-effectors to grasp objects with flat surfaces. However, this grasping strategy fails with objects having different geometry e.g., spherical and cylindrical. Articulated rigid gripp...
A Pseudo-satellite system that transmits signals similar to GNSS can provide positioning services in places where GNSS signals are not captured and have enormous potential for indoor machine system and airports. Different paths of the device have dif...
Helicopters are still an indispensable addition to aviation in this day and age. They are characterized by their ability to master both forward flight and hover. These characteristics result in a wide range of possible operations. Key for the design...
Different driving styles should be considered in path planning for autonomous vehicles that are travelling alongside other traditional vehicles in the same traffic scene. Based on the drivers’ characteristics and artificial potential field (APF...
Pneumatic artificial muscle (PAM) is attractive in rehabilitation and biomimetic robots due to its flexibility. However, there exists a strong hysteretic nonlinearity in PAMs and strong coupling between the output displacement and the output force. A...
The nonlinear characteristics of the pneumatic servo system are the main factors limiting its control accuracy. A new mathematical model of the nonlinear system of the valve control cylinder is proposed in order to improve the control accuracy of the...
The planetary gear train is often used as the main device for decelerating and increasing the torque of the drive motor of electric vehicles. Considering the lightweight requirement and existing uncertainty in structural design, a multi-objective unc...
Superconducting techniques are applied to a superconducting magnetic suspension system. A superconducting coil, copper coils, a magnetically suspended object, a photo sensor, a PID controller, and power amplifiers are the main components of the suspe...
This paper presents the development and experimentations of transparent vibrating piezoelectric micromembranes dedicated to protecting immersed measurement instruments from marine biofouling. As any surface immersed is subject to the adhesion and set...
Dynamic stall is a critical limiting factor for airfoil aerodynamics and a challenging problem for active flow control. In this experimental study, dynamic stall was measured by high-frequency surface pressure tapes and pressure-sensitive paint (PSP)...
This paper presents an extension of impedance control of robots based on fractional calculus. In classical impedance control, the end-effector reactions are proportional to the end-effector position errors through the stiffness matrix K, while dampin...
This review article presents various multi-DOF application systems that utilize smart magnetorheological (MR) fluid. It is well known that MR fluid has been actively studied and applied in many practical systems such as vehicle suspension dampers. Th...
In this paper, an actuator fault diagnosis and reconfiguration problem is discussed for an uncertain vehicle steering system with external disturbances. Aiming at the factors affecting the control performance, a fault reconstruction strategy based on...
High-speed Permanent Magnet Synchronous Motor (PMSM) systems have been widely used in industry and other fields for their advantages of having a simple structure, low processing cost and high efficiency. At present, the control precision of PMSM is r...
This paper presents a control strategy with a linear extended state observer (LESO) and Kalman filter to achieve a high performance of the motion control system. The moment of inertia of the system, which is variable with the robotic joint motion, is...
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The current work aims to compare the effects of systematic A-site substitutions on the electrical properties of potassium sodium niobate (KNN)-based coating. The A-site elements were replaced by Li+ to form (K0.4675Na0.4675Li0.065) NbO3 (KNLN). The p...
The dielectric barrier discharge plasma actuator is a promising flow control device that uses surface discharge. The actuator generates an electrohydrodynamic force and Joule heating that contribute to the flow control. Thus, it is important to inves...
Topology and shape optimization are still rarely applied to problems in electromagnetic design due to the computational complexity and limited commercial tooling, even though components such as electrical motors, magnetic springs or magnetic bearings...
The electroadhesion pad is mainly studied for applications, such as climbing robots and grippers. In this paper, we present our study with the confirmation of the adhesion properties of the electroadhesion pad with a double-insulating layer, pad mode...
Torsional vibrations play a critical role in the design and operation of a mechanical or mechatronic drivetrain due to their impact on lifetime, performance, and cost. A magnetic spring allows one to reduce these vibrations and improve the actuator p...
The preview model is one of the common methods used in trajectory tracking. The traditional fixed preview time is not adaptable to most speeds and road conditions, which not only reduces the tracking accuracy but also reduces the vehicle stability. T...
The design of a teleoperated 8-DoF redundant robot for Doppler sonography is detailed in this paper. The proposed robot is composed of a 7-DoF robotic arm mounted on a 1-DoF linear axis. This solution has been conceived to allow Doppler ultrasound ex...
This paper presents the mechatronic design of a biorobotic joint with controllable compliance, for innovative applications of “assist-as-needed” robotic rehabilitation mediated by a wearable and soft exoskeleton. The soft actuation of rob...
The finite control set model predictive torque control (FCS-MPTC) selects the optimal voltage vector (VV) by the composite cost function composed of torque and flux error, which makes it have a faster dynamic response than conventional control method...
With an increase in renewable energy in the electricity grid, more storage capacity for grid stabilization and energy flexibilization is necessary. Dynamic grid stabilization is one possible application for flywheels. To increase the energy density o...
Flight control electro-mechanical actuators (EMAs) are among the primary onboard systems that significantly influence the reliability and safety of unmanned aerial vehicles. Recent reliability studies have shown that the ball-screw element of a fligh...
In order to realize the construction of environmentally friendly potassium sodium niobate ceramic coating on metal surface, potassium sodium niobate ceramic coating was prepared by supersonic plasma spraying technology. The morphology, element extens...
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