Journal Description
Actuators
Actuators
is an international, peer-reviewed, open access journal on the science and technology of actuators and control systems published monthly online by MDPI.
- Open Access— free for readers, with article processing charges (APC) paid by authors or their institutions.
- High Visibility: indexed within Scopus, SCIE (Web of Science), Inspec, and other databases.
- Journal Rank: JCR - Q2 (Engineering, Mechanical) / CiteScore - Q2 (Control and Optimization)
- Rapid Publication: manuscripts are peer-reviewed and a first decision is provided to authors approximately 16.5 days after submission; acceptance to publication is undertaken in 1.9 days (median values for papers published in this journal in the first half of 2024).
- Recognition of Reviewers: reviewers who provide timely, thorough peer-review reports receive vouchers entitling them to a discount on the APC of their next publication in any MDPI journal, in appreciation of the work done.
Impact Factor:
2.2 (2023);
5-Year Impact Factor:
2.4 (2023)
Latest Articles
The Sliding Mode Control for Piezoelectric Tip/Tilt Platform on Precision Motion Tracking
Actuators 2024, 13(7), 269; https://doi.org/10.3390/act13070269 (registering DOI) - 17 Jul 2024
Abstract
This paper presents the design of a sliding mode controller to compensate hysteresis nonlinearity and achieve precision motion tracking for a novel piezoelectric tip/tilt platform driven by a PZT actuator. The sliding mode control scheme is based on the unique physical characteristics of
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This paper presents the design of a sliding mode controller to compensate hysteresis nonlinearity and achieve precision motion tracking for a novel piezoelectric tip/tilt platform driven by a PZT actuator. The sliding mode control scheme is based on the unique physical characteristics of the piezoelectric tip/tilt platform. The proposed scheme effectively guides the platform state onto a predefined sliding surface and ensures its sustained movement along this manifold. This approach reduces tracking errors compared to conventional methodologies. The stability of the sliding mode control scheme is demonstrated by the Lyapunov theory framework. It achieves precise motion control with minimal tracking error on a piezoelectric tip/tilt platform. The properties of the controller have been confirmed through experimental tests. The proposed control scheme enhances the robust tracking and stability performance on the piezoelectric tip/tilt platform, outperforming traditional control schemes. Compared with the P562.6CD produced by PI Germany, the proposed innovative approach not only boosts the platform’s resolution by 32% but also implements a 33% reduction in cost.
Full article
(This article belongs to the Topic Advances in Piezoelectric/Ultrasonic Sensors and Actuators-2nd Volume)
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Open AccessArticle
A Nonlinear Active Disturbance Rejection Feedback Control Method for Proton Exchange Membrane Fuel Cell Air Supply Subsystems
by
Jiaming Zhou, Weixiang Ding, Jinming Zhang, Fengyan Yi, Zhiming Zhang, Guangping Wu and Caizhi Zhang
Actuators 2024, 13(7), 268; https://doi.org/10.3390/act13070268 - 14 Jul 2024
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The control strategy of the gas supply subsystem is very important to ensure the performance and stability of the fuel cell system. However, due to the inherent nonlinear characteristics of the fuel cell gas supply subsystem, the traditional control strategy is mainly based
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The control strategy of the gas supply subsystem is very important to ensure the performance and stability of the fuel cell system. However, due to the inherent nonlinear characteristics of the fuel cell gas supply subsystem, the traditional control strategy is mainly based on proportional integral (PI) control, which has the disadvantages of large limitation, large error, limited immunity, and inconsistent control performance, which seriously affects its effectiveness. In order to overcome these challenges, this paper proposes an optimal control method for air supply subsystems based on nonlinear active disturbance rejection control (ADRC). Firstly, a seven-order fuel cell system model is established, and then, the nonlinear ADRC and traditional PI control strategies are compared and analyzed. Finally, the two strategies are simulated and compared. The validation results indicate that the integral absolute error (IAE) measure of PI control is 0.502, the integral square error (ISE) measure is 0.1382, and the total variation (TV) measure is 399.1248. Compared with the PI control, the IAE and ISE indexes of ADRC were reduced by 61.31% and 58.03%, respectively. ADRC is superior to PI control strategy in all aspects and realizes the efficient adjustment of the system under different working conditions. ADRC is more suitable for the nonlinear characteristics of the gas supply system and is more suitable for the oxygen excess ratio (OER).
Full article
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Open AccessArticle
Disturbance Observer-Based Adaptive Fault Tolerant Control with Prescribed Performance of a Continuum Robot
by
Shoulin Xu
Actuators 2024, 13(7), 267; https://doi.org/10.3390/act13070267 - 14 Jul 2024
Abstract
This paper studies an adaptive fault tolerant control (AFTC) scheme for a continuum robot subjected to unknown actuator faults, dynamics uncertainties, unknown disturbances, and prescribed performance. Specifically, to deal with uncertainties, a function approximation technique (FAT) is employed to evaluate the unknown actuator
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This paper studies an adaptive fault tolerant control (AFTC) scheme for a continuum robot subjected to unknown actuator faults, dynamics uncertainties, unknown disturbances, and prescribed performance. Specifically, to deal with uncertainties, a function approximation technique (FAT) is employed to evaluate the unknown actuator faults and uncertain dynamics of the continuum robot. Then, a nonlinear disturbance observer (DO) is developed to estimate the unknown compounded disturbance, which contains the unknown disturbances and approximation errors of the FAT. Furthermore, the prescribed error bound is treated as a time-varying constraint, and the controller design method is based on an asymmetric barrier Lyapunov function (BLF), which is operated to strictly ensure the steady-state and transient performance of the continuum robot. Afterwards, the simulation results validate the effectiveness of the proposed AFTC in dealing with the unknown actuator faults, uncertainties, unknown disturbances, and prescribed performance. Finally, the effectiveness of the proposed AFTC scheme is verified through experiments.
Full article
(This article belongs to the Section Actuators for Robotics)
Open AccessArticle
Comparative Study of Mechanical Scaling Effects of Origami-Inspired Motion Generation Mechanisms with Multi-Degree Vertices
by
Seetharam Krishnapuram, Xiao Xiao and Hongliang Ren
Actuators 2024, 13(7), 266; https://doi.org/10.3390/act13070266 - 13 Jul 2024
Abstract
Origami exhibits the remarkable ability to transform into diverse shapes, including quadrilaterals, triangles, and more complex polygons. This unique property has inspired the integration of origami principles into engineering design, particularly in the development of foldable mechanisms. In the field of robotics, when
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Origami exhibits the remarkable ability to transform into diverse shapes, including quadrilaterals, triangles, and more complex polygons. This unique property has inspired the integration of origami principles into engineering design, particularly in the development of foldable mechanisms. In the field of robotics, when combined with actuators, these foldable mechanisms are referred to as active origami. Origami-based mechanisms play a pivotal role as versatile end effectors or grippers, enabling them to accurately trace desired trajectories. The performance of these mechanisms heavily relies on their specific fold patterns. To shed light on their capabilities, this study focuses on five representative structures using spherical mechanisms: oriceps, Miura ori, MACIOR, and two hexagonal structures. To assess their potential, a comparative analysis is conducted, evaluating their kinematic and scaling performances. The analysis employs the “scaling factor” as a metric, which quantifies the mechanical advantage of these mechanisms. This metric aids in the selection of appropriate structures for various applications.
Full article
(This article belongs to the Special Issue Advancement in the Design and Control of Robotic Grippers)
Open AccessArticle
Increasing Payload Capacity of a Continuum Soft Robot Using Bio-Inspired Ossicle Reinforcement
by
Jacek Garbulinski, Sai C. Balasankula and Norman M. Wereley
Actuators 2024, 13(7), 265; https://doi.org/10.3390/act13070265 - 12 Jul 2024
Abstract
Soft continuum robots, characterized by their dexterous and compliant nature, often face limitations due to buckling under small loads. This study explores the enhancement of axial performance in soft robots intrinsically actuated with extensile fluidic artificial muscles (EFAMs) through the incorporation of bio-inspired
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Soft continuum robots, characterized by their dexterous and compliant nature, often face limitations due to buckling under small loads. This study explores the enhancement of axial performance in soft robots intrinsically actuated with extensile fluidic artificial muscles (EFAMs) through the incorporation of bio-inspired radial supports, or ossicles. By conducting quasi-static force response experiments under varying pressure conditions (103.4–517.1 kPa), and a modified Euler column buckling model, we demonstrate that ossicles significantly increase the robots’ resistance to buckling, thereby extending their application scope in payload-carrying tasks. These findings not only underscore the effectiveness of ossicle reinforcement in improving structural robustness but also pave the way for future research to optimize soft robot design for enhanced performance.
Full article
(This article belongs to the Special Issue Actuators in 2024)
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Open AccessCommunication
Fault Diagnosis of Unmanned Aerial Systems Using the Dempster–Shafer Evidence Theory
by
Nikun Liu, Zhenfeng Zhou, Lijun Zhu, Yixin He and Fanghui Huang
Actuators 2024, 13(7), 264; https://doi.org/10.3390/act13070264 - 12 Jul 2024
Abstract
Unmanned aerial systems (UASs) find diverse applications across military, civilian, and commercial sectors, including military reconnaissance, aerial photography, environmental monitoring, precision agriculture, logistics, and rescue operations, offering efficient, safe, and cost-effective solutions to various industries. To ensure the stable and reliable operation of
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Unmanned aerial systems (UASs) find diverse applications across military, civilian, and commercial sectors, including military reconnaissance, aerial photography, environmental monitoring, precision agriculture, logistics, and rescue operations, offering efficient, safe, and cost-effective solutions to various industries. To ensure the stable and reliable operation of UASs, fault diagnosis is essential, which can enhance safety, and minimize potential risks and losses. However, most existing fault diagnosis methods rely on a single physical quantity as the primary information source or solely consider fault data at a single moment, leading to challenges of low diagnostic accuracy and limited reliability. Aimed at this problem, this paper presents a fault diagnosis method based on time–space domain weighted information fusion for UASs. First, the Gaussian fault model is constructed for the data with different fault features in the space domain. Next, the weighted coefficient method is used to generate the basic probability assignment (BPA) by matching the fault data with the Gaussian fault model. Then, the Dempster’s combination rule, which enables the Dempster–Shafer (D-S) evidence theory, is adopted to fuse the generated BPAs. Based on this, the pignistic probability transformation is performed to determine the fault type. Finally, numerical results demonstrate the effectiveness of the proposed fault diagnosis method in accurately identifying the fault types of UASs.
Full article
(This article belongs to the Section Aircraft Actuators)
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Open AccessArticle
Design and Test of the Electrical System of the All-Electric Subsea Gate Valve Actuator
by
Honghai Wang, Guiqian Liu, Lai Zhou, Peng Jia and Feihong Yun
Actuators 2024, 13(7), 263; https://doi.org/10.3390/act13070263 - 11 Jul 2024
Abstract
To bridge the gap in the research on the control and drive methods of the key equipment of the new subsea production control system, all-electric subsea gate valve actuator, and to solve the problems of the valve control and drive system in the
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To bridge the gap in the research on the control and drive methods of the key equipment of the new subsea production control system, all-electric subsea gate valve actuator, and to solve the problems of the valve control and drive system in the traditional subsea production system, this paper proposed a full-featured and feasible electrical system of the all-electric subsea gate valve actuator containing the control system and the drive system. The key functions were realized, including status monitoring, redundant communication, redundant power supply, redundant drive, and low-power open-position holding. The electrical system is suitable for monitoring and controlling all-electric subsea gate valve actuators with various specifications and is highly integrated, open, efficient, and real-time. The electrical system prototype was developed and successfully tested for several functions. The results showed that the all-electric subsea gate valve actuator electrical system was capable of controlling and driving the actuator, monitoring the status information of the internal and external environment of the system, as well as the power output information of the drive system, and having redundancy features.
Full article
(This article belongs to the Section Control Systems)
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Open AccessArticle
An Ultrasonic Vibration Scratch Tester for Studying the Scratch Characteristics of Materials under Ultrasonic Vibration Contact Status
by
Yaming Huang, Haoxiang Wu, Yuan Yao, Hongwei Zhao and Hu Huang
Actuators 2024, 13(7), 262; https://doi.org/10.3390/act13070262 - 11 Jul 2024
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Ultrasonic vibration-assisted machining is a promising technique for improving the removability of materials, especially for difficult-to-machine materials, but the material removal mechanism under ultrasonic vibration status is still far from clear. Scratch testing is generally employed to study the material removal mechanism, but
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Ultrasonic vibration-assisted machining is a promising technique for improving the removability of materials, especially for difficult-to-machine materials, but the material removal mechanism under ultrasonic vibration status is still far from clear. Scratch testing is generally employed to study the material removal mechanism, but currently, there is a lack of instruments capable of performing scratch testing under ultrasonic vibration. To address this gap, this study developed an ultrasonic vibration scratch tester that can perform quantitative ultrasonic vibration-assisted scratch (UVAS) testing of materials. A prototype was designed and fabricated, followed by characterizing its performance parameters. Comparative experiments of conventional scratch (CS) testing and UVAS testing were performed on AL1050 to investigate the effects of ultrasonic vibration on scratch characteristics, such as the scratch depth and coefficient of friction. It was found that compared to CS testing, UVAS testing, with an amplitude of 1.45 µm and a frequency of 20 kHz, achieved a maximum reduction in the coefficient of friction of approximately 22.5% and a maximum increase in the depth of the residual scratch of approximately 175%. These findings confirm the superiority of ultrasonic vibration-assisted machining and demonstrate the requirement for the development of ultrasonic vibration scratch testers.
Full article
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Open AccessArticle
Properties Analysis of Hydraulic PTO Output Fluctuation Regulating Based on Accumulator
by
Han Jia, Zhongcai Pei, Zhiyong Tang and Meng Li
Actuators 2024, 13(7), 261; https://doi.org/10.3390/act13070261 - 11 Jul 2024
Abstract
Hydraulic power take-off (PTO) is increasingly favored as energy regulation and transmission system in wave energy converters (WEC), significantly smoothing the inherent randomness and fluctuation of wave energy. This paper designed a novel hydraulic PTO system composition of a double-acting hydraulic cylinder pump
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Hydraulic power take-off (PTO) is increasingly favored as energy regulation and transmission system in wave energy converters (WEC), significantly smoothing the inherent randomness and fluctuation of wave energy. This paper designed a novel hydraulic PTO system composition of a double-acting hydraulic cylinder pump and accumulators. The dynamic process sub-division principle in an operating period of the hydraulic cylinder pump and accumulator and the mathematical model for explaining the fluctuations of pressure and flow rate in the hydraulic pump and accumulator circuit by means of the sub-division principle are put forward. The MATLAB/Simulink simulation model used to analyze pressure fluctuation in the hydraulic PTO system is established based on the mathematical model. The numerical results and MATLAB simulation results are mutually verified about the fine analysis of the accumulator smoothing fluctuation in the hydraulic PTO system. The results show that the pressure fluctuation amplitude of a hydraulic circuit is negatively correlated with the accumulator pre-charge pressure and the accumulator volume, and is positively correlated with the operating period of a hydraulic pump. The energy transfer efficiency of the hydraulic PTO system with accumulator fine compensation can be above 90%. The theory and model in this paper will serve as a valuable reference for designing fluctuation compensation parameters in hydraulic systems.
Full article
(This article belongs to the Section Aircraft Actuators)
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Open AccessArticle
Leveraging Cooperative Intent and Actuator Constraints for Safe Trajectory Planning of Autonomous Vehicles in Uncertain Traffic Scenarios
by
Yuquan Zhu, Juntong Lv and Qingchao Liu
Actuators 2024, 13(7), 260; https://doi.org/10.3390/act13070260 - 10 Jul 2024
Abstract
This study explores the integration of dynamic vehicle trajectories, vehicle safety factors, static traffic environments, and actuator constraints to improve cooperative intent modeling for autonomous vehicles (AVs) navigating uncertain traffic scenarios. Existing models often focus solely on interactions between dynamic trajectories, limiting their
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This study explores the integration of dynamic vehicle trajectories, vehicle safety factors, static traffic environments, and actuator constraints to improve cooperative intent modeling for autonomous vehicles (AVs) navigating uncertain traffic scenarios. Existing models often focus solely on interactions between dynamic trajectories, limiting their ability to fully interpret the intentions of surrounding vehicles. To address this limitation, we present a more comprehensive approach using the Cooperative Intent Multi-Layer Graph Neural Network (CMGNN) model. The CMGNN analyzes not only the dynamic trajectories but also the lane position relationships, vehicle angle changes, and actuator constraints and performs group interaction analysis. This richer information allows the CMGNN to more accurately capture the cooperative intent and better understand the surrounding vehicle behavior. This study investigated the impact of the CMGNN in the Carla simulator on surrounding vehicle trajectory prediction and AV safe trajectory planning. An innovative mechanism for dynamic trajectory risk assessment is introduced, which takes into account the constraints of the actuators when evaluating trajectory planning metrics. The results show that incorporating cooperative intent and considering the actuator limitations enhanced the CMGNN’s safety and driving efficiency in uncertain scenarios, significantly reducing the probability of AVs colliding. This is achieved as the model dynamically adapts its driving strategy based on the real-time traffic conditions, the perceived intentions of the surrounding vehicles, and the physical constraints of the vehicle actuators.
Full article
(This article belongs to the Special Issue Actuator Fault Diagnosis, State Detection and Fault Tolerant Control for Ground and Rail Vehicles)
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Open AccessArticle
Adaptive Fuzzy Fault-Tolerant Attitude Control for a Hypersonic Gliding Vehicle: A Policy-Iteration Approach
by
Meijie Liu, Changhua Hu, Hong Pei, Hongzeng Li and Xiaoxiang Hu
Actuators 2024, 13(7), 259; https://doi.org/10.3390/act13070259 - 9 Jul 2024
Abstract
In this paper, adaptive fuzzy fault-tolerant control (AFFTC) for the attitude control system of a hypersonic gliding vehicle (HGV) experiencing an actuator fault is proposed. Actuator faults of the HGV are considered with respect to its actual structure and actuator characteristics. The HGV’s
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In this paper, adaptive fuzzy fault-tolerant control (AFFTC) for the attitude control system of a hypersonic gliding vehicle (HGV) experiencing an actuator fault is proposed. Actuator faults of the HGV are considered with respect to its actual structure and actuator characteristics. The HGV’s attitude system is firstly represented by a T–S fuzzy model, and then a normal T–S fuzzy controller is designed. A reinforcement learning (RL)-based policy iterative solution algorithm is proposed for the solving of the T-S fuzzy controller. Then, based on the normal T–S controller, a fuzzy FTC controller is proposed in which the control matrices can improve themselves according to the special fault. An integral reinforcement learning (IRL)-based solving algorithm is proposed to reduce the dependence of the design methods on the HGV model. Simulations on three different kinds of actuator faults show that the designed IRL-based FTC can ensure a reliable flight by the HGV.
Full article
(This article belongs to the Section Control Systems)
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Open AccessArticle
L1 Adaptive Fault-Tolerant Control for Nonlinear Systems Subject to Input Constraint and Multiple Faults
by
Yan Zhou, Huiying Liu and Huijuan Guo
Actuators 2024, 13(7), 258; https://doi.org/10.3390/act13070258 - 9 Jul 2024
Abstract
This paper investigates an L1 adaptive fault-tolerant control scheme for nonlinear systems with input constraint, external disturbances, and multiple faults, which include actuator faults and sensor faults. Faults and input constraint are important factors that affect the stability and performance of a control
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This paper investigates an L1 adaptive fault-tolerant control scheme for nonlinear systems with input constraint, external disturbances, and multiple faults, which include actuator faults and sensor faults. Faults and input constraint are important factors that affect the stability and performance of a control system. Actuators and sensors are the most vulnerable components, with the former receiving more attention in comparison. In this paper, sensor faults are first transformed into pseudo-actuator faults through the augmented matrix approach, which facilitates their handling together with actuator faults. Saturation constraints on the control signal are not conducive to the design of the controller. The conversion of an input-saturated function to a time-varying linear system is completed based on function approximation and Lagrange’s mean value theorem. Moreover, a nonlinear system with unknown input gain and uncertainties is constructed using these methods. Next, an L1 adaptive fault-tolerant controller is designed to cope with uncertainties, including system uncertainties, external disturbances, faults, and approximation errors. In the L1 adaptive controller, the online estimation of the time-varying parameters allows for updating of the system state, while the combination of the two is transmitted to the control law such that it can compensate for the effects of the uncertainties. The stability and performance boundaries are further derived using the Lyapunov theory and the L1 reference system. Finally, simulations are carried out to demonstrate the effectiveness of the proposed controller.
Full article
(This article belongs to the Special Issue Intelligent Sensing, Control and Actuation in Networked Systems)
Open AccessTechnical Note
Calibration to Differentiate Power Output by the Manual Wheelchair User from the Pushrim-Activated Power-Assisted Wheel on a Force-Instrumented Computer-Controlled Wheelchair Ergometer
by
Jelmer Braaksma, Enrico Ferlinghetti, Sonja de Groot, Matteo Lancini, Han Houdijk and Riemer J. K. Vegter
Actuators 2024, 13(7), 257; https://doi.org/10.3390/act13070257 - 9 Jul 2024
Abstract
To examine the biomechanical demands of manual wheelchair propulsion, it is crucial to determine the wheelchair user’s (WCU) force for propulsion technique parameter calculation. When using a pushrim-activated power-assisted wheelchair (PAPAW) on a wheelchair ergometer, a combined propulsion force from the WCU and
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To examine the biomechanical demands of manual wheelchair propulsion, it is crucial to determine the wheelchair user’s (WCU) force for propulsion technique parameter calculation. When using a pushrim-activated power-assisted wheelchair (PAPAW) on a wheelchair ergometer, a combined propulsion force from the WCU and PAPAW is exerted. To understand PAPAW’s assistance and distinguish the WCU’s force application from the force exerted by the PAPAW, both propulsion components must be assessed separately. In this study, a calibration of the PAPAW on an ergometer was developed to achieve this separation. The calibration consists of five steps: (I) Collecting data on force and velocity measured from the ergometer, along with electrical current and velocity from the PAPAW. (II) Synchronizing the velocity signals of the wheelchair ergometer and PAPAW using cross-correlation. (III) Calibrating the PAPAW’s electromotors to convert electrical current (mA) to force (N). A product-specific motor constant of 0.30, provided an average ICC of 0.563, indicating a moderate agreement between the raw ergometer data (N) and the motor constant-converted drive-rim (PAPAW) data (from mA to N). (IV) Subtracting the PAPAW’s force signal from the ergometer’s measured force to isolate forces generated by the WCU. (V) Using markerless motion capture to determine and validate the phase of hand contact with the handrim. This technical note provides an example of PAPAW calibration for researchers and clinicians. It emphasizes the importance of integrating this calibration into the development of PAPAW devices to reveal the complex interaction between PAPAW and WCU during wheelchair propulsion.
Full article
(This article belongs to the Special Issue Rehabilitation Robots and Assistive Devices: A Special Issue in Honor of Prof. Dr. Rory A. Cooper)
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Open AccessArticle
Trajectory Synthesis and Linkage Design of Single-Degree-of-Freedom Finger Rehabilitation Device
by
Ping Zhao, Yang Wang, Yating Zhang and Yong Wang
Actuators 2024, 13(7), 256; https://doi.org/10.3390/act13070256 - 6 Jul 2024
Abstract
For injured and after-stroke patients who temporarily lose their hand’s grasping abilities, assisting them in regaining their index finger mobility is very important in the rehabilitation process. In this paper, a finger rehabilitation device based on one degree-of-freedom (DOF) linkage mechanism is designed,
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For injured and after-stroke patients who temporarily lose their hand’s grasping abilities, assisting them in regaining their index finger mobility is very important in the rehabilitation process. In this paper, a finger rehabilitation device based on one degree-of-freedom (DOF) linkage mechanism is designed, aiming to lead the index finger through the flexion–extension trajectory during grasping tasks. Two types of one-DOF mechanisms, a four-bar linkage and a Watt-I six-bar linkage, are synthesized for the task trajectory. Various algorithms such as PSO, GA, and GA–BFGS are adopted and compared for the synthesis of these two types of mechanisms, among which the Watt-I six-bar linkage obtained with GA–BFGS shows the optimal performance in accuracy. Clinical biomechanical data are utilized to perform static analyses of the mechanisms, and the feasibility of the Watt-I six-bar linkage models is tested, compared, and demonstrated. Finally, the prototype of the six-bar linkage as well as a wearable exoskeleton finger rehabilitation device are designed to show how they are applied in the finger rehabilitation scenario.
Full article
(This article belongs to the Special Issue Actuators in 2024)
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Open AccessArticle
Optimization Comparison of Torque Performance of Axial-Flux Permanent-Magnet Motor Using Differential Evolution and Cuckoo Search
by
Wei Ge, Yiming Xiao, Feng Cui, Xiaosheng Wu and Wu Liu
Actuators 2024, 13(7), 255; https://doi.org/10.3390/act13070255 - 4 Jul 2024
Abstract
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To improve the torque performance of the axial-flux permanent-magnet motor (AFPMM), differential evolution (DE) and cuckoo search (CS) are proposed for optimizing the motor’s structural parameters. The object of this research is an AFPMM with a single-rotor and double-stator configuration. Firstly, finite element
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To improve the torque performance of the axial-flux permanent-magnet motor (AFPMM), differential evolution (DE) and cuckoo search (CS) are proposed for optimizing the motor’s structural parameters. The object of this research is an AFPMM with a single-rotor and double-stator configuration. Firstly, finite element analysis (FEA) and BP neural network machine learning (ML) were combined to obtain an ML calculator. This calculator is about the relationships between five input structural parameters of the motor and two output torque parameters (i.e., average torque and cogging torque). Then, an optimization objective function was designed to reduce the cogging torque while increasing the average output torque. And motor structural parameters were optimized using the DE and CS algorithms, respectively. Finally, air-gap flux density, average torque, cogging torque, and ripple torque before and after the optimization of the motor structure parameters are compared by FEA. The results show that both algorithms achieved almost the same optimized structural parameters. And the optimized motor has reduced cogging torque while increasing the average output torque and reducing the ripple torque. Compared with the CS, the DE is more advantageous in terms of faster iteration speed, shorter time to obtain the optimal solution, and less resource consumption.
Full article
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Open AccessArticle
JVC-02 Teleoperated Robot: Design, Implementation, and Validation for Assistance in Real Explosive Ordnance Disposal Missions
by
Luis F. Canaza Ccari, Ronald Adrian Ali, Erick Valdeiglesias Flores, Nicolás O. Medina Chilo, Erasmo Sulla Espinoza, Yuri Silva Vidal and Lizardo Pari
Actuators 2024, 13(7), 254; https://doi.org/10.3390/act13070254 - 2 Jul 2024
Abstract
Explosive ordnance disposal (EOD) operations are hazardous due to the volatile and sensitive nature of these devices. EOD robots have improved these tasks, but their high cost limits accessibility for security institutions that do not have sufficient funds. This article presents the design,
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Explosive ordnance disposal (EOD) operations are hazardous due to the volatile and sensitive nature of these devices. EOD robots have improved these tasks, but their high cost limits accessibility for security institutions that do not have sufficient funds. This article presents the design, implementation, and validation of a low-cost EOD robot named JVC-02, specifically designed for use in explosive hazardous environments to safeguard the safety of police officers of the Explosives Disposal Unit (UDEX) of Arequipa, Peru. To achieve this goal, the essential requirements for this type of robot were compiled, referencing the capabilities of Rescue Robots from RoboCup. Additionally, the Quality Function Deployment (QFD) methodology was used to identify the needs and requirements of UDEX police officers. Based on this information, a modular approach to robot design was developed, utilizing commercial off-the-shelf components to facilitate maintenance and repair. The JVC-02 was integrated with a 5-DoF manipulator and a two-finger mechanical gripper to perform dexterity tasks, along with a tracked locomotion mechanism, which enables effective movement, and a three-camera vision system to facilitate exploration tasks. Finally, field tests were conducted in real scenarios to evaluate and experimentally validate the capabilities of the JVC-02 robot, assessing its mobility, dexterity, and exploration skills. Additionally, real EOD missions were carried out in which UDEX agents intervened and controlled the robot. The results demonstrate that the JVC-02 robot possesses strong capabilities for real EOD applications, excelling in intuitive operation, low cost, and ease of maintenance.
Full article
(This article belongs to the Section Actuators for Robotics)
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Open AccessArticle
Fault Detection of Multi-Wheeled Robot Consensus Based on EKF
by
Afrah Jouili, Boumedyen Boussaid, Ahmed Zouinkhi and M. N. Abdelkrim
Actuators 2024, 13(7), 253; https://doi.org/10.3390/act13070253 - 1 Jul 2024
Abstract
Synchronizing a network of robots in consensus is an important task for cooperative work. Detecting faults in a network of robots in consensus is a much more important task. In considering a formation of Wheeled Mobile Robots (WMRs) in a master–slave architecture modeled
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Synchronizing a network of robots in consensus is an important task for cooperative work. Detecting faults in a network of robots in consensus is a much more important task. In considering a formation of Wheeled Mobile Robots (WMRs) in a master–slave architecture modeled by graph theory, the main objective of this study was to detect and isolate a fault that appears on a robot of this formation in order to remove it from the formation and continue the execution of the assigned task. In this context, we exploit the extended Kalman filter (EKF) to estimate the state of each robot, generate a residual, and deduce whether a fault exists. The implementation of this technique was proven using a Matlab simulator.
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(This article belongs to the Special Issue Actuators in Robotic Control: Volume II)
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Open AccessArticle
Fixed-Time Adaptive Neural Network-Based Trajectory Tracking Control for Workspace Manipulators
by
Xiaofei Chen, Han Zhao, Shengchao Zhen, Xiaoxiao Liu and Jinsi Zhang
Actuators 2024, 13(7), 252; https://doi.org/10.3390/act13070252 - 1 Jul 2024
Abstract
This paper proposes a novel neural network-based control algorithm with fixed-time performance constraints for manipulator systems in workspaces. The algorithm efficiently controls the manipulator’s trajectory tracking by tuning a preset performance function, thereby optimizing both speed and accuracy within a fixed timeframe. Initially,
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This paper proposes a novel neural network-based control algorithm with fixed-time performance constraints for manipulator systems in workspaces. The algorithm efficiently controls the manipulator’s trajectory tracking by tuning a preset performance function, thereby optimizing both speed and accuracy within a fixed timeframe. Initially, a tangent-type error transformation, applied through homogeneous embryonic transformation, ensures rapid convergence of tracking errors to a specific region. Subsequently, integrating a predetermined control strategy into the fixed-time stability framework ensures the system’s state reaches a defined boundary within a finite period. Lastly, neural networks are employed to approximate dynamic parameters and adjust the controller, achieving optimal parameter approximation and significantly enhancing trajectory tracking robustness. Simulation analyses and comparisons confirm the controller’s effectiveness and superiority in enhancing both the transient and steady-state performance of the control system.
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(This article belongs to the Section Actuators for Robotics)
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Open AccessArticle
Traffic Signal Control Optimization Based on Neural Network in the Framework of Model Predictive Control
by
Dapeng Tang and Yuzhou Duan
Actuators 2024, 13(7), 251; https://doi.org/10.3390/act13070251 - 1 Jul 2024
Abstract
To improve the effectiveness of model predictive control (MPC) in dynamic traffic signal control strategies, it has been combined with graph convolutional networks (GCNs) and deep reinforcement learning (DRL) technologies. In this study, a neural-network-based traffic signal control optimization method under the MPC
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To improve the effectiveness of model predictive control (MPC) in dynamic traffic signal control strategies, it has been combined with graph convolutional networks (GCNs) and deep reinforcement learning (DRL) technologies. In this study, a neural-network-based traffic signal control optimization method under the MPC framework is proposed. A dynamic correlation matrix is introduced in the predictive model to adapt to the dynamic changes in correlations between nodes over time. The signal control optimization strategy is solved using DRL, where the agent explores the optimal control strategy based on pre-set constraints in the future road environment. The geometric structure and traffic flow data of a real intersection were selected as the simulation validation environment, and a joint simulation was conducted using Python and SUMO. The experimental results indicate that in low-traffic scenarios, the queue length is reduced by more than 2 vehicles compared to the selected comparison methods; in high-traffic scenarios, the queue length is reduced by an average of 17 vehicles. Under the actual traffic data of the intersection, the average speed is increased by 6.4% compared to the fixed timing method; compared to the inductive signal control method, it increases from 9.76 m/s to 11.69 m/s, an improvement of 19.7%, effectively enhancing the intersection signal control performance.
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(This article belongs to the Special Issue AI, Designing, Sensing, Instrumentation, Diagnosis, Controlling, and Integration of Actuators in Digital Manufacturing—Volume II)
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Open AccessArticle
A Semi-Global Finite-Time Decentralized Control Method for High-Order Large-Scale Nonlinear Systems
by
Ziwen Jiang, Hanwen Zhang and Lingrong Xue
Actuators 2024, 13(7), 250; https://doi.org/10.3390/act13070250 - 30 Jun 2024
Abstract
This study focuses on the decentralized stabilization issue of high-order large-scale nonlinear systems with unknown disturbances. A novel decentralized semi-global finite-time control approach is suggested by constructing a Lyapunov function with both quadratic and higher-order components and employing the method of homogeneous domination.
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This study focuses on the decentralized stabilization issue of high-order large-scale nonlinear systems with unknown disturbances. A novel decentralized semi-global finite-time control approach is suggested by constructing a Lyapunov function with both quadratic and higher-order components and employing the method of homogeneous domination. Based on the designed Lyapunov function, a state-feedback controller is constructed for the nominal system. Subsequently, the scaling gain is flexibly introduced to enable semi-globally finite-time stabilization of the nonlinear system. Besides, the approach is extended to the problem of decentralized tracking control of high-order large-scale nonlinear systems. Finally, numerical and practical examples validate the effectiveness of the presented control strategy.
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(This article belongs to the Section Control Systems)
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