Actuators, Volume 13, Issue 1

To exploit the energy-saving potential of pneumatic actuator systems, various energy-saving circuits have been developed in recent decades. However, the principle of a pressure-based air supply cut-off has only been considered to a limited extent. Th...

Inchworms are a widely adopted bio-inspired model for soft crawling robots. Taking advantage of the good controllability of Shape Memory Alloy (SMA), this paper designs and manufactures an inchworm-inspired soft robot driven by SMA. Firstly, in the s...

Environmental factors, such as pressure and temperature, are known to contribute to the formation of ulcers that seriously affect bedridden individuals. Researchers have proposed several technologies to achieve the long-term monitoring of those param...

A high proportion of the CO₂ emissions worldwide are caused by the construction sector or are associated with buildings. Every part of the industry needs to reduce its share of emissions, so the building sector must also do its part. One possible sol...

In this work, a fixed-time leader-following event-triggered (ET) consensus problem for multi-agent systems (MASs) with external disturbances is investigated. A distributed observer is developed to achieve the estimated state of the leader. By means o...

The hydraulic pump plays a pivotal role in engineering machinery, and it is essential to continuously monitor its operating status. However, many vital signals for monitoring cannot be directly obtained in practical applications. To address this, we...

This article proposes a hierarchical control strategy to address semi-ABS control as well as the precise clamping force control problems for an integrated electric parking brake (iEPB) system. To this end, a detailed system model, including modeling...

In order to better meet the practical application needs of mobile robots, this study innovatively designs an autonomous obstacle avoidance and trajectory planning control strategy with low computational complexity, high cost-effectiveness, and the ab...

Soft robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced control metho...

In order to obtain highly accurate infrared spectra, the optical path scanning control system in a portable Fourier transform spectrometer (FTS) must be able to realize highly stable reciprocal scanning. To address the positional localization and spe...

Permanent magnet synchronous linear motor (PMSLM) is widely used to meet the requirement of high dynamic accuracy positioning, such as in machine tools and devices of semiconductor manufacturing. A new 2-DOF control structure is proposed in this pape...

Interference fit is often used in rotating machinery to transmit torque and force. The actual interference value is uncertain due to factors such as manufacturing errors and operating conditions, resulting in a gap between the response of the system...

Emerging robotic systems with compliant characteristics, incorporating nonrigid links and/or elastic actuators, are opening new applications with advanced safety features, as well as improved performance and energy efficiency in contact tasks. Howeve...

In this article, the research team systematically developed a method to model the kinematics and dynamics of a 3-wheeled robot subjected to external disturbances and sideways wheel sliding. These models will be used to design control laws that compen...

The influencing characteristic for the evolution mechanism of a dynamic stall vortex structure and distributed blowing control on rotor airfoils was investigated. Based on the moving-embedded grid method, the finite volume scheme, and Roe’s FDS...

Existing traditional expansion state observers exhibit good tracking performance for constant and low-frequency disturbances. However, their ability to track non-constant disturbances such as ramp and high-frequency harmonics is inadequate. This pape...

In the quest for intelligent robots, it is essential to enable them to understand tasks beyond mere manipulation. Achieving this requires a robust parsing mode that can be used to understand human cognition and semantics. However, the existing method...

Given the continual rise in mission diversity and environmental complexity, the adept integration of a robot’s aerial and terrestrial locomotion modes to address diverse application scenarios has evolved into a formidable challenge. In this pap...

This study provides simulation and experimental results on techniques for avoiding static and dynamic obstacles using a deep Q-learning (DQL) reinforcement learning algorithm for a two-wheel mobile robot with independent control. This method integrat...

The paper deals with the development of a model-based current-signature algorithm for the detection and isolation of power switch faults in three-phase Permanent Magnet Synchronous Motors (PMSMs). The algorithm, by elaborating the motor currents feed...

To overcome the limitations of the sparrow search algorithm and the challenges of dynamic obstacle avoidance in mobile robots, an integrated method combining the enhanced sparrow search algorithm with the dynamic window approach is introduced. First,...

A thin-walled structure of high-strength aluminum alloy 2024 (AA2024) was fabricated using novel laser and cold metal transfer and pulse (CMT-P) arc hybrid additive manufacturing (LCAHAM) technology. The influence of the wire feeding speed, scanning...

A common consensus is that an optimized curve profile of the stroke ring in the multiple-stroke piston motor can make the output torque more stable. However, the ring generates elastic deformation during operation, which causes the piston component m...

Micro-newton thrust stands are widely used in thruster ground calibration procedures for a variety of space missions. The conventional analytical model does not consider the gravity-induced extension effect and systematic error in displacement for th...

Lower limb exoskeleton rehabilitation robots have become an important direction for development in today’s society. These robots can provide support and power to assist patients in walking and movement. In order to achieve better interaction be...

In this paper, we investigate the orbit-adjustment problem of satellite systems in the presence of nonlinear uncertainties in kinematics and dynamics. We propose a novel direct adaptive fuzzy control scheme with prescribed tracking accuracy to addres...

Energy consumption is one of the most critical factors in determining the kinematic performance of quadruped robots. However, existing research methods often encounter challenges in quickly and efficiently reducing the energy consumption associated w...

This paper proposes a new dual-stator hybrid-magnet flux modulation machine (DS-FMHMM) for direct-drive applications, which employs NdFeB magnet excitation and Ferrite magnet excitation on the rotor and outer stator sides, respectively. With this des...

In the realm of high-speed precision broadcasting, the existing seeder opener proves inadequate for the speed of the seeding operation. We focus on the duckbill opener and employ the quadratic regression orthogonal rotation combination test design me...

Electric transport vehicles offer sustainable transportation solutions with benefits, such as reduced emissions, noise, and operating costs. This paper draws an overview of the available technical solutions to actuate transport vehicles with electric...

This study presents an error flow research method for simulation models of hydraulic systems in construction machinery based on the state-space approach, aiming to ensure the reliable application of digital twin models. Initially, a comprehensive ana...

The efficient design optimization of electric machines for electric power steering (EPS) applications poses challenges in meeting demanding performance criteria, including high power density, efficiency, and low vibration. Traditional optimization ap...

This study describes the activity of developing a force amplifier exoskeleton with one degree of freedom. The system was developed as a research prototype to conduct control system studies. The device consists of an arm with a pneumatic cylinder actu...

Container cranes have been widely used for port operation. However, the structure of the port container crane is large, which always leads to crane damage under vibration and strong wind. Therefore, a method for vibration reduction of container crane...

This paper presents a hierarchical lane-changing trajectory planner based on the least action principle for autonomous driving. Our approach aims to achieve reliable real-time avoidance of static and moving obstacles in multi-vehicle interaction scen...

Due to friction vibration dampers’ inability to effectively dampen low loads during high-frequency dewatering, drum washing machines vibrated intensively. In order to address this problem, in this paper, a novel type of low-cost non-Newtonian f...

Soft robotics has emerged as a promising field due to the unique characteristics offered by compliant and flexible structures. Overcoming the challenge of precise position control is crucial in the development of such systems that require accurate mo...

The tracking accuracy and vehicle stability of self-driving trajectory tracking are particularly important. Due to the influence of high-frequency oscillation near the sliding mode surface and the modeling error of the single-point preview model itse...

Magnetic gears (MGs) emerged as an interesting alternative to conventional mechanical gears, owing mainly to their high torque densities and contactless operation. This paper presents a novel observer-based position control system for a magnetic-gear...

The non-variable stiffness of the flexible hinge in the fast-steering mirror (FSM) cannot adapt to varying load demands. To address this issue, this paper presents an innovative variable-stiffness rotational mechanism designed for use with FSMs. Firs...

Nonskeletal animals such as worms achieve locomotion via crawling. We consider them as an inspiration to design robots that help underline the mechanisms of crawling. In this paper, we aim to identify an approach with the simplest structure and actua...

This paper investigates an improved fixed-time stability theory together with a state feedback controller for a class of nonlinear stochastic systems. First, a delicate transformation is performed, and next, a Gamma function is utilized to directly d...

This study designs an advanced single-loop output feedback system for speed servo drive applications, in which a simple proportional–integral–integral (PII) controller equipped with nonlinear feedback and feed-forward gains is formed. The...

The planetary gearbox plays a vital role in a wide range of mechanical power transmission systems, including high-speed trains, wind turbines, vehicles, and aircraft. At the same time, the planetary gear train inside the gearbox is regarded as the mo...