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 16.7 days after submission; acceptance to publication is undertaken in 2.5 days (median values for papers published in this journal in the second half of 2023).
- 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:
2.6 (2022);
5-Year Impact Factor:
2.6 (2022)
Latest Articles
Improved Information Fusion for Agricultural Machinery Navigation Based on Context-Constrained Kalman Filter and Dual-Antenna RTK
Actuators 2024, 13(5), 160; https://doi.org/10.3390/act13050160 - 25 Apr 2024
Abstract
Automatic navigation based on dual-antenna real-time kinematic (RTK) positioning has been widely employed for unmanned agricultural machinery, whereas GNSS inevitably suffers from signal blocking and electromagnetic interference. In order to improve the reliability of an RTK-based navigation system in a GNSS-challenged environment, an
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Automatic navigation based on dual-antenna real-time kinematic (RTK) positioning has been widely employed for unmanned agricultural machinery, whereas GNSS inevitably suffers from signal blocking and electromagnetic interference. In order to improve the reliability of an RTK-based navigation system in a GNSS-challenged environment, an integrated navigation system is preferred for autonomous navigation, which increases the complexity and cost of the navigation system. The information fusion of integrated navigation has been dominated by Kalman filter (KF) for several decades, but the KF cannot assimilate the known knowledge of the navigation context efficiently. In this paper, the geometric characteristics of the straight path and path-tracking error were employed to formulate the constraint measurement model, which suppresses the position error in the case of RTK-degraded scenarios. The pseudo-measurements were then imported into the KF framework, and the smoothed navigation state was generated as a byproduct, which improves the reliability of the RTK positioning without external sensors. The experiment result of the mobile vehicle automatic navigation indicates that the tracking error-constrained KF (EC-KF) outperforms the trajectory-constrained KF (TC-KF) and KF when the RTK system outputs a float or single-point position (SPP) solution. In the case where the duration of the SPP solution was 20 s, the positioning errors of the EC-KF and TC-KF were reduced by 38.50% and 24.04%, respectively, compared with those of the KF.
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(This article belongs to the Topic Advances in Mobile Robotics Navigation, 2nd Volume)
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Research on Maximum Power Control of Direct-Drive Wave Power Generation Device Based on BP Neural Network PID Method
by
Xinyu Fan and Hao Meng
Actuators 2024, 13(5), 159; https://doi.org/10.3390/act13050159 - 24 Apr 2024
Abstract
Ocean wave energy is a new type of clean energy. To improve the power generation and wave energy conversion efficiency of the direct-drive wave power generation system, by addressing the issue of large output errors and poor system stability commonly associated with the
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Ocean wave energy is a new type of clean energy. To improve the power generation and wave energy conversion efficiency of the direct-drive wave power generation system, by addressing the issue of large output errors and poor system stability commonly associated with the currently used PID (proportional, integral, and derivative) control methods, this paper proposes a maximum power control method based on BP (back propagation) neural network PID control. Combined with Kalman filtering, this method not only achieves maximum power tracking but also reduces output ripple and tracking error, thereby enhancing the system’s control quality. This study uses a permanent magnet linear generator as the power generation device, establishes a system dynamics model, and predicts the main frequency of irregular waves through the Fast Fourier Transform method. It designs a desired current tracking curve that meets the maximum power strategy. On this basis, a comparative analysis of the control accuracy and stability of three control methods is conducted. The simulation results show that the BP neural network PID control method improves power generation and exhibits better accuracy and stability.
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(This article belongs to the Special Issue Actuators in 2024)
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An Ice Protection System Based on Phased Piezoelectric Transducers
by
Salvatore Ameduri, Antonio Concilio, Angela Brindisi and Bernardino Galasso
Actuators 2024, 13(5), 158; https://doi.org/10.3390/act13050158 - 24 Apr 2024
Abstract
This study focuses on a system constituted of two piezoelectric transducers installed on a slat representative element, with ice protection purposes. The waves generated by these actuators can cause, in fact, shear actions between the slat panel and the ice accretion, with the
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This study focuses on a system constituted of two piezoelectric transducers installed on a slat representative element, with ice protection purposes. The waves generated by these actuators can cause, in fact, shear actions between the slat panel and the ice accretion, with the final effect of breaking and detaching it. A property of the system is, however, the possibility of regulating the phase between the excitation signals of the two transducers. This capability can be exploited to produce local advantageous wave interference with a consequent amplification of the shear actions. Benefits can be obtained in terms of: (1) reduction of needed power; (2) recovery of signal intensity losses due to distance, geometric, and mechanic discontinuities; (3) recovery of non-optimal functionality due to off-design conditions. The work starts with an overview of the impact of the ice on the aeronautic and other sectors. Then, attention is paid to the systems currently used to protect aircraft, with a specific focus on ultrasounds generated by piezoelectric transducers. The concept proposed in this work is then presented, illustrating the main components and the working modality. On this basis and considering the specific nature of the physical phenomenon, the modeling approach was defined and implemented. At first, the impact of some critical parameters, such as the temperature and the thickness of the ice, was investigated. Then, the impact of the phase delay parameter was considered, estimating the increase of magnitude potentially reachable by means of optimal tuning. Finally, a preliminary experimental campaign was organized and a comparison with the numerical predictions was performed.
Full article
(This article belongs to the Special Issue Actuators in 2024)
Open AccessArticle
On the Relative Kinematics and Control of Dual-Arm Cutting Robots for a Coal Mine
by
Peng Liu, Haochen Zhou, Xinzhou Qiao and Yan Zhu
Actuators 2024, 13(5), 157; https://doi.org/10.3390/act13050157 - 24 Apr 2024
Abstract
There is an unbalanced problem in the traditional laneway excavation process for coal mining because the laneway excavation and support are at the same position in space but they are separated in time, consequently leading to problems of low efficiency in laneway excavation.
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There is an unbalanced problem in the traditional laneway excavation process for coal mining because the laneway excavation and support are at the same position in space but they are separated in time, consequently leading to problems of low efficiency in laneway excavation. To overcome these problems, an advanced dual-arm tunneling robotic system for a coal mine is developed that can achieve the synchronous operation of excavation and the permanent support of laneways to efficiently complete excavation tasks for large-sized cross-section laneways. A dual-arm cutting robot (DACR) has an important influence on the forming quality and excavation efficiency of large-sized cross-section laneways. As a result, the relative kinematics, workspace, and control of dual-arm cutting robots are investigated in this research. First, a relative kinematic model of the DACR is established, and a closed-loop control strategy for the robot is proposed based on the relative kinematics. Second, an associated workspace (AW) for the DACR is presented and generated, which can provide a reference for the cutting trajectory planning of a DACR. Finally, the relative kinematics, closed-loop kinematic controller, and associated workspace generation algorithm are verified through simulation results.
Full article
(This article belongs to the Special Issue Advanced Robots: Design, Control and Application—2nd Edition)
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Deployable Structures Based on Non-Flat-Foldable and Non-Developable Origami with Constant Curvature
by
Bo Qin, Shiwei Liu, Jianzhi Wang and Shengnan Lyu
Actuators 2024, 13(4), 156; https://doi.org/10.3390/act13040156 - 19 Apr 2024
Abstract
Deployable structures based on origami are widely used in the application of actuators. In this paper, we present a novel family of origami-based deployable structures with constant curvature. Two categories of non-flat-foldable and non-developable degree-4 vertices (NFND degree-4 vertices) are introduced. Pyramid structures
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Deployable structures based on origami are widely used in the application of actuators. In this paper, we present a novel family of origami-based deployable structures with constant curvature. Two categories of non-flat-foldable and non-developable degree-4 vertices (NFND degree-4 vertices) are introduced. Pyramid structures are constructed based on the NFND degree-4 vertices. Doubly symmetric and singly symmetric spherical origami tubular cells (SOTCs) are established based on pyramid structures. To construct deployable origami modules using SOTCs, linking units are introduced. The mobility of the SOTCs and origami modules is analyzed using constraint screws. To realize the construction and simulation of deployable structures, kinematic and geometric analyses of the doubly symmetric and singly symmetric SOTCs are performed. Finally, we introduce four cases for deployable structures in spherical actuators based on the combination of multiple origami modules. These case studies demonstrate the potential of these deployable origami structures in the design of spherical actuators.
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(This article belongs to the Special Issue Actuators in 2024)
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A New Rotary Magnetorheological Damper for a Semi-Active Suspension System of Low-Floor Vehicles
by
Yu-Jin Park, Byung-Hyuk Kang and Seung-Bok Choi
Actuators 2024, 13(4), 155; https://doi.org/10.3390/act13040155 - 18 Apr 2024
Abstract
This study explores the significance of active suspension systems for vehicles with lower chassis compared to conventional ones, aiming at the development of future automobiles. Conventional linear MR (magnetorheological) dampers were found inadequate in ensuring sufficient vibration control because the vehicle’s chassis becomes
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This study explores the significance of active suspension systems for vehicles with lower chassis compared to conventional ones, aiming at the development of future automobiles. Conventional linear MR (magnetorheological) dampers were found inadequate in ensuring sufficient vibration control because the vehicle’s chassis becomes lowered in the unmanned vehicles or purposed-based vehicles. As an alternative, a rotary type of MR damper is proposed in this work. The proposed damper is designed based on prespecified design parameters through mathematical modeling and magnetic field analyses. Subsequently, a prototype of the rotary MR damper identical to the design is fabricated, and effectiveness is shown through experimental investigations. In configuring the experiments, a proportional-integral (PI) controller is employed for current control to reduce the response time of the damper. The results presented in this work provide useful guidelines to develop a new type of MR damper applicable to various types of future vehicles’ suspension systems with low distance from the tire to the body floor.
Full article
(This article belongs to the Special Issue Actuators and Dampers for Vibration Control: Damping and Isolation Applications - Volume II)
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Quadcopter Trajectory Tracking Control Based on Flatness Model Predictive Control and Neural Network
by
Yong Li, Qidan Zhu and Ahsan Elahi
Actuators 2024, 13(4), 154; https://doi.org/10.3390/act13040154 - 18 Apr 2024
Abstract
In this paper, a novel control architecture is proposed in which FMPC couples feedback from model predictive control with feedforward linearization. The proposed approach has the computational advantage of only requiring a convex quadratic program to be solved instead of a nonlinear program.
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In this paper, a novel control architecture is proposed in which FMPC couples feedback from model predictive control with feedforward linearization. The proposed approach has the computational advantage of only requiring a convex quadratic program to be solved instead of a nonlinear program. Feedforward linearization aims to overcome the robustness issues of feedback linearization, which may be the result of parametric model uncertainty leading to inexact pole-zero cancellation. A DenseNet was trained to learn the inverse dynamics of the system, and it was used to adjust the desired path input for FMPC. Through experiments using quadcopter, we also demonstrated improved trajectory tracking performance compared to that of the PD, FMPC, and FMPC+DNN approaches. The root mean square (RMS) error was used to evaluate the performance of the above four methods. The results demonstrate that the proposed method is effective.
Full article
(This article belongs to the Special Issue Fault-Tolerant Control for Unmanned Aerial Vehicles (UAVs))
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Integrated Spatial Kinematics–Dynamics Model Predictive Control for Collision-Free Autonomous Vehicle Tracking
by
Weishan Yang, Yixin Su, Yuepeng Chen and Cheng Lian
Actuators 2024, 13(4), 153; https://doi.org/10.3390/act13040153 - 18 Apr 2024
Abstract
The development of intelligent transportation technology has provided a significant impetus for autonomous driving technology. Currently, autonomous vehicles based on Model Predictive Control (MPC) employ motion control strategies based on sampling time, which fail to fully utilize the spatial information of obstacles. To
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The development of intelligent transportation technology has provided a significant impetus for autonomous driving technology. Currently, autonomous vehicles based on Model Predictive Control (MPC) employ motion control strategies based on sampling time, which fail to fully utilize the spatial information of obstacles. To address this issue, this paper proposes a dual-layer MPC vehicle collision-free trajectory tracking control strategy that integrates spatial kinematics and vehicle dynamics. To fully utilize the spatial information of obstacles, we designed a vehicle model based on spatial kinematics, enabling the upper-layer MPC to plan collision avoidance trajectories based on distance sampling. To improve the accuracy and safety of trajectory tracking, we designed an 8-degree-of-freedom vehicle dynamic model. This allows the lower-layer MPC to consider lateral stability and roll stability during trajectory tracking. In collision avoidance trajectory tracking experiments using three scenarios, compared to two advanced time-based algorithms, the trajectories planned by the proposed algorithm in this paper exhibited predictability. The proposed algorithm can initiate collision avoidance at predetermined positions and can avoid collisions in predetermined directions, with all state variables within safe ranges. In terms of time efficiency, it also outperformed the comparative algorithms.
Full article
(This article belongs to the Special Issue Advances in Dynamics and Motion Control of Unmanned Aerial/Underwater/Ground Vehicles)
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Optimization Approach for Multisensory Feedback in Robot-Assisted Pouring Task
by
Mandira S. Marambe, Bradley S. Duerstock and Juan P. Wachs
Actuators 2024, 13(4), 152; https://doi.org/10.3390/act13040152 - 18 Apr 2024
Abstract
Individuals with disabilities and persons operating in inaccessible environments can greatly benefit from the aid of robotic manipulators in performing daily living activities and other remote tasks. Users relying on robotic manipulators to interact with their environment are restricted by the lack of
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Individuals with disabilities and persons operating in inaccessible environments can greatly benefit from the aid of robotic manipulators in performing daily living activities and other remote tasks. Users relying on robotic manipulators to interact with their environment are restricted by the lack of sensory information available through traditional operator interfaces. These interfaces deprive users of somatosensory feedback that would typically be available through direct contact. Multimodal sensory feedback can bridge these perceptual gaps effectively. Given a set of object properties (e.g., temperature, weight) to be conveyed and sensory modalities (e.g., visual, haptic) available, it is necessary to determine which modality should be assigned to each property for an effective interface design. The goal of this study was to develop an effective multisensory interface for robot-assisted pouring tasks, which delivers nuanced sensory feedback while permitting the high visual demand necessary for precise teleoperation. To that end, an optimization approach was employed to generate a combination of feedback properties to modality assignments that maximizes effective feedback perception and minimizes cognitive load. A set of screening experiments tested twelve possible individual assignments to form this optimal combination. The resulting perceptual accuracy, load, and user preference measures were input into a cost function. Formulating and solving as a linear assignment problem, a minimum cost combination was generated. Results from experiments evaluating efficacy in practical use cases for pouring tasks indicate that the solution was significantly more effective than no feedback and had considerable advantage over an arbitrary design.
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 AccessReview
Dielectric Elastomer-Based Actuators: A Modeling and Control Review for Non-Experts
by
Hector Medina, Carson Farmer and Isaac Liu
Actuators 2024, 13(4), 151; https://doi.org/10.3390/act13040151 - 17 Apr 2024
Abstract
Soft robotics are attractive to researchers and developers due to their potential for biomimicry applications across a myriad of fields, including biomedicine (e.g., surgery), the film industry (e.g., animatronics), ecology (e.g., physical ‘animats’), human–robot interactions (e.g., social robots), and others. In contrast to
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Soft robotics are attractive to researchers and developers due to their potential for biomimicry applications across a myriad of fields, including biomedicine (e.g., surgery), the film industry (e.g., animatronics), ecology (e.g., physical ‘animats’), human–robot interactions (e.g., social robots), and others. In contrast to their rigid counterparts, soft robotics offer obvious actuation benefits, including their many degrees of freedom in motion and their potential to mimic living organisms. Many material systems have been proposed and used for soft robotic applications, involving soft actuators, sensors, and generators. This review focuses on dielectric elastomer (DE)-based actuators, which are more general electro-active polymer (EAP) smart materials. EAP-based soft robots are very attractive for various reasons: (a) energy can be efficiently (and readily) stored in electrical form; (b) both power and information can be transferred rapidly via electrical phenomena; (c) computations using electronic means are readily available. Due to their potential and benefits, DE-based actuators are attractive to researchers and developers from multiple fields. This review aims to (1) provide non-experts with an “easy-to-follow” survey of the most important aspects and challenges to consider when implementing DE-based soft actuators, and (2) emphasize current solutions and challenges related to the materials, controls, and portability of DE-based soft-actuator systems. First, we start with some fundamental functions, applications, and configurations; then, we review the material models and their selection. After, we outline material limitations and challenges along with some thermo-mechano-chemical treatments to overcome some of those limitations. Finally, we outline some of the control schemes, including modern techniques, and suggest using rewritable hardware for faster and more adaptive controls.
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(This article belongs to the Special Issue Actuators in 2024)
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Progressive Optimal Fault-Tolerant Control Combining Active and Passive Control Manners
by
Dan Du, Zetao Li and Boutaib Dahhou
Actuators 2024, 13(4), 150; https://doi.org/10.3390/act13040150 - 16 Apr 2024
Abstract
This study develops a progressive optimal fault-tolerant control method based on insufficient fault information. By combining passive and active fault-tolerant control manners during the process of fault diagnosis, insufficient fault information is fully used, and optimal fault-tolerant control effect is achieved. In addition,
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This study develops a progressive optimal fault-tolerant control method based on insufficient fault information. By combining passive and active fault-tolerant control manners during the process of fault diagnosis, insufficient fault information is fully used, and optimal fault-tolerant control effect is achieved. In addition, the fault-tolerant control method based on guaranteed robust cost control is introduced. The proposed progressive optimal fault-tolerant control method considers two aspects. First, as the amount of fault information continually increases, the performance index of the progressive optimal fault-tolerant controller improves. Second, at each moment, based on the corresponding insufficient fault information and prior knowledge, optimal fault-tolerant control is achieved according to current fault information. The process of progressive optimal fault-tolerant control converges to active fault-tolerant control when the fault is completely identified, and the optimal fault-tolerant controller is no longer reconfigured until no more useful fault information can be provided. Furthermore, a progressive optimal fault-tolerant control algorithm based on the grid segmentation in the parameter uncertainty domain and the selection of different auxiliary center points is introduced. Simulation results verified the feasibility of the proposed algorithm and the validity of the proposed theory.
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(This article belongs to the Section Control Systems)
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Development of a Tool to Manipulate Flexible Pieces in the Industry: Hardware and Software
by
Francisco José Martínez-Peral, Jorge Borrell Méndez, José Vicente Segura Heras and Carlos Perez-Vidal
Actuators 2024, 13(4), 149; https://doi.org/10.3390/act13040149 - 16 Apr 2024
Abstract
Currently, the textile industry is a poorly automated sector, due in part to problems in the handling of deformable leather and textile parts during production operations. In this work, several problems in the handling process of leather and textile parts are addressed, introducing
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Currently, the textile industry is a poorly automated sector, due in part to problems in the handling of deformable leather and textile parts during production operations. In this work, several problems in the handling process of leather and textile parts are addressed, introducing methods to increase the automation of the process. A pneumatic actuator designed to pick up textile or leather parts avoiding their deformation during transport has been developed. This actuator maximizes the number of gripping points to improve handling, making it more stable and efficient. Additionally, a vision system has been implemented in the part-picking task which, in conjunction with the CAD information of the part, sends the modified gripping position of the part to the robot. This allows customized handling of each textile or leather part. Finally, validation tests have been carried out on this development, both in simulations and in laboratory conditions, demonstrating its viability and direct applicability in the production line.
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(This article belongs to the Section Actuators for Robotics)
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Open AccessArticle
Non-Electrically Driven Acoustic Actuator
by
Takeru Niwano and Mitsuharu Matsumoto
Actuators 2024, 13(4), 148; https://doi.org/10.3390/act13040148 - 16 Apr 2024
Abstract
Nuclear power plants have high radiation levels and humans cannot work directly on them. Therefore, it is necessary to establish effective repair work methods. One promising approach is the use of disaster relief robots. However, strong radiation affects circuits and electronic devices. Because
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Nuclear power plants have high radiation levels and humans cannot work directly on them. Therefore, it is necessary to establish effective repair work methods. One promising approach is the use of disaster relief robots. However, strong radiation affects circuits and electronic devices. Because typical robots contain electrical circuits and are controlled by radio waves, they are difficult to use in highly radioactive environments. In this study, we propose a non-electrically driven acoustic actuator that does not use electronic circuits and is driven by sound waves. To realize this goal, we have investigated a sound wave drive using a cylindrical container.
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(This article belongs to the Special Issue Actuators in 2024)
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Open AccessArticle
Research on Bearing Mechanism of Spherical Valve Pairs of Axial Piston Pumps
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Shunhai Xu, Chunxiao Zhao, Dian He, Nan Xu, Bin Zhang and Guofang Gong
Actuators 2024, 13(4), 147; https://doi.org/10.3390/act13040147 - 15 Apr 2024
Abstract
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The hydraulic system drives the cutter head mechanism to realize the excavation of large tunnel boring equipment, which puts forward the technical requirements of high pressure and large flow to the pump source. The traditional small displacement axial piston pump uses a planar
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The hydraulic system drives the cutter head mechanism to realize the excavation of large tunnel boring equipment, which puts forward the technical requirements of high pressure and large flow to the pump source. The traditional small displacement axial piston pump uses a planar valve plate. However, under high flow and heavy load conditions, the planar valve plate configuration is prone to uneven wear due to the high-pressure and -velocity (PV) value and pressure shock, which ultimately affects the reliability of the system. A simulation analysis of the load-bearing characteristics of the spherical valve plate mechanism is conducted. The Computational Fluid Dynamics (CFD) method was used to construct flow field models for different valve plate oil film structures to calculate differences in their load-bearing capacities. Additionally, the reasons for variations in load-bearing characteristics based on the curvature radius of the spherical valve plate were analyzed. The simulation results demonstrate that the spherical valve plate exhibits superior leak and load-bearing performance compared to the traditional flat valve plate. Furthermore, the curvature radius of the spherical valve plate directly affects the pulsation characteristics of the piston pump. Smaller curvature radii increase the contact area of the oil film, resulting in greater fluctuation in oil film load-bearing, whereas larger curvature radii lead to increased oil film leakage. Using simulation calculations on heavy-load, high-displacement axial piston pumps, it is determined that the optimal curvature radius for stable load-bearing is 350 mm.
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Open AccessArticle
A Novel Thermal Deformation Self-Stabilization Flexible Connection Mechanism
by
Fahui Feng, Zhihang Lin and Hui Tang
Actuators 2024, 13(4), 146; https://doi.org/10.3390/act13040146 - 15 Apr 2024
Abstract
In micro-LED chip repair, a nanopositioner is commonly used to adjust the positioning of the LED chip. However, during the bonding process, the heat generated can cause the positioning system to deform, leading to inaccurate alignment and poor-quality chip repair. To solve this
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In micro-LED chip repair, a nanopositioner is commonly used to adjust the positioning of the LED chip. However, during the bonding process, the heat generated can cause the positioning system to deform, leading to inaccurate alignment and poor-quality chip repair. To solve this issue, a novel flexible connection structure has been proposed that can eliminate thermal deformation. The principle of this novel flexible connection structure is that the thermal distortion self-elimination performance is achieved via three flexible connection modules (FCM) so that the thermal stress is automatically eliminated. First, the paper introduces the principle of thermal deformation elimination, and then the design and modeling process of the proposed structure are described. A heat transfer model is then developed to determine how temperature is distributed within the structure. A thermal deformation model is established, and the size of the FCM is optimized using a genetic algorithm (GA) to minimize the thermal deformation. Finite element analysis (FEA) is used to simulate and evaluate the thermal distortion self-elimination performance of the optimized mechanism. Finally, experiments are conducted to verify the reliability and accuracy of the simulation results. The simulations and experiments show that the proposed structure can eliminate more than of the thermal deformation, indicating an excellent thermal deformation self-eliminating capability.
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(This article belongs to the Section Actuators for Manufacturing Systems)
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Terminal Sliding Mode Force Control Based on Modified Fast Double-Power Reaching Law for Aerospace Electro-Hydraulic Load Simulator of Large Loads
by
Yingna Zhao, Cheng Qiu, Jing Huang, Qifan Tan, Shuo Sun and Zheng Gong
Actuators 2024, 13(4), 145; https://doi.org/10.3390/act13040145 - 15 Apr 2024
Abstract
This paper addresses the force-tracking problem of aerospace electro-hydraulic load simulators under the influence of high inertia, large loads, and a strong coupling force disturbance. An accurate mathematical model is initially derived to describe the characteristics of the load simulator system, the cause
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This paper addresses the force-tracking problem of aerospace electro-hydraulic load simulators under the influence of high inertia, large loads, and a strong coupling force disturbance. An accurate mathematical model is initially derived to describe the characteristics of the load simulator system, the cause of the surplus force, and the strong phase lag due to large inertia. In order to overcome the position interference of the system and the large phase lag problem, a terminal sliding mode control strategy based on the modified fast double-power reaching law is proposed, based on the accurate mathematical model. This control strategy effectively suppresses the chattering problem of the sliding control and implements the finite time convergence of the system through the design of the reaching law and terminal sliding surface, ensuring the robustness of the system and the accuracy of the force-tracking problem. Finally, a comparison of the simulation and experimental results based on the design of different strategy controllers is performed to verify the effectiveness of the control strategy and system adaptability.
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(This article belongs to the Special Issue Flight Control Systems and Dynamic Simulation for Aerospace Applications)
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Open AccessArticle
Eco-Driving on Hilly Roads in a Mixed Traffic Environment: A Model Predictive Control Approach
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A. S. M. Bakibillah, Md Abdus Samad Kamal, Jun-ichi Imura, Masakazu Mukai and Kou Yamada
Actuators 2024, 13(4), 144; https://doi.org/10.3390/act13040144 - 14 Apr 2024
Abstract
Human driving behavior significantly affects vehicle fuel economy and emissions on hilly roads. This paper presents an ecological (eco) driving scheme (EDS) on hilly roads using nonlinear model predictive control (NMPC) in a mixed traffic environment. A nonlinear optimization problem with a relevant
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Human driving behavior significantly affects vehicle fuel economy and emissions on hilly roads. This paper presents an ecological (eco) driving scheme (EDS) on hilly roads using nonlinear model predictive control (NMPC) in a mixed traffic environment. A nonlinear optimization problem with a relevant prediction horizon and a cost function is formulated using variables impacting the fuel economy of vehicles. The EDS minimizes vehicle fuel usage and emissions by generating the optimum velocity trajectory considering the longitudinal motion dynamics, the preceding vehicle’s state, and slope information from the digital road map. Furthermore, the immediate vehicle velocity and angle of the road slope are used to tune the cost function’s weight utilizing fuzzy inference methods for smooth maneuvering on slopes. Microscopic traffic simulations are used to show the effectiveness of the proposed EDS for different penetration rates on a real hilly road in Fukuoka City, Japan, in a mixed traffic environment with the conventional (human-based) driving scheme (CDS). The results show that the fuel consumption and emissions of vehicles are significantly reduced by the proposed NMPC-based EDS compared to the CDS for varying penetration rates. Additionally, the proposed EDS significantly increases the average speed of vehicles on the hilly road. The proposed scheme can be deployed as an advanced driver assistance system (ADAS).
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(This article belongs to the Special Issue Advanced Actuation and Control Technologies for Vehicle Driving Systems)
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Comparison of Magnetostrictive-Actuated Semi-Active Control Methods Based on Synchronized Switching
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An Li, Yuusuke Kobayashi, Yushin Hara, Keisuke Otsuka and Kanjuro Makihara
Actuators 2024, 13(4), 143; https://doi.org/10.3390/act13040143 - 12 Apr 2024
Abstract
Three distinct synchronized switching circuits based on a magnetostrictive actuator are compared in this paper to examine their control mechanisms and circuit characteristics. These circuits include a semi-active shunt circuit, a semi-active current inversion and amplification circuit, and a semi-active automatic current inversion
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Three distinct synchronized switching circuits based on a magnetostrictive actuator are compared in this paper to examine their control mechanisms and circuit characteristics. These circuits include a semi-active shunt circuit, a semi-active current inversion and amplification circuit, and a semi-active automatic current inversion and amplification circuit. Each circuit type employs an additional electronic switch. The synchronized switching method enables the rational control of the circuit current generated by the magnetostrictive actuator to fulfill any desired control strategy. Simulation and experimental results on a 10-bay truss structure reveal that the three circuits can effectively adjust the polarity of the induced current as needed. The three circuits are then compared to thoroughly analyze their unique characteristics and explain their respective advantages and dis-advantages. Using the comparison results, various options available for control circuit design are demonstrated.
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(This article belongs to the Special Issue Actuators in 2024)
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State Observer-Based Conditioned Reverse-Path Method for Nonlinear System Identification
by
Atta Oveisi, Umaaran Gogilan, Jafar Keighobadi and Tamara Nestorović
Actuators 2024, 13(4), 142; https://doi.org/10.3390/act13040142 - 11 Apr 2024
Abstract
In light of the complex behavior of vibrating structures, their reliable modeling plays a crucial role in the analysis and system design for vibration control. In this paper, the reverse-path (RP) method is revisited, further developed, and applied to modeling a nonlinear system,
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In light of the complex behavior of vibrating structures, their reliable modeling plays a crucial role in the analysis and system design for vibration control. In this paper, the reverse-path (RP) method is revisited, further developed, and applied to modeling a nonlinear system, particularly with respect to the identification of the frequency response function for a nominal underlying linear system and the determination of the structural nonlinearities. The present approach aims to overcome the requirement for measuring all nonlinear system states all the time during operation. Especially in large-scale systems, this might be a tedious task and often practically infeasible since it would require having individual sensors assigned for each state involved in the design process. In addition, the proper placement and simultaneous operation of a large number of transducers would represent further difficulty. To overcome those issues, we have proposed state estimation in light of the observability criteria, which significantly reduces the number of required sensor elements. To this end, relying on the optimal sensor placement problem, the state estimation process reduces to the solution of Kalman filtering. On this ground, the problem of nonlinear system identification for large-scale systems can be addressed using the observer-based conditioned RP method (OBCRP) proposed in this paper. In contrast to the classical RP method, the current one can potentially handle local and distributed nonlinearities. Moreover, in addition to the state estimation and in comparison to the orthogonal RP method, a new frequency-dependent weighting is introduced in this paper, which results in superior nonlinear system identification performances. Implementation of the method is demonstrated on a multi-degree-of-freedom discretized lumped mass system, representing a substitute model of a physical counterpart used for the identification of the model parameters.
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(This article belongs to the Special Issue Actuators and Dampers for Vibration Control: Damping and Isolation Applications - Volume II)
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Open AccessArticle
Novel Extension Control Instrument for Power Wheelchair Based on Kalman Filter Head Motion Detection
by
Yixin Zhang, Zhuohang Ying, Xinyu Tian, Siyuan Jin, Junjie Huang and Yinan Miao
Actuators 2024, 13(4), 141; https://doi.org/10.3390/act13040141 - 11 Apr 2024
Abstract
People with upper limb disabilities or high quadriplegia have extremely high requirements for the maneuverability and functionality of power wheelchairs. Normal wheelchairs cannot meet travel tasks, while smart customized wheelchairs are expensive and cannot be popularized. Therefore, a novel extension control instrument for
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People with upper limb disabilities or high quadriplegia have extremely high requirements for the maneuverability and functionality of power wheelchairs. Normal wheelchairs cannot meet travel tasks, while smart customized wheelchairs are expensive and cannot be popularized. Therefore, a novel extension control instrument for power wheelchairs with low cost, strong scalability, and convenient usage is proposed, which can realize the control of the wheelchair by sensing a change of head posture. The device is divided into a head motion sensing unit (HMSU) and a wheelchair assistance control unit (WACU). The mapping relationship between the head attitude and the subject’s motion intention is established. The inertial measurement module in the HMSU collects the head attitude data and uses the Kalman filtering method to obtain the accurate Euler angle. The WACU is fixed on the original controller of the wheelchair. The joystick is inserted into the extended control mechanism and controlled, instead of the hand, through a 2-degree-of-freedom servo system combined with the pinion and rack push rod structure, thus controlling the movement of the wheelchair. In proceeding, the system can also detect the distance of objects in the environment in real time through the three-direction (front, left, right) ultrasonic ranging sensors installed on the WACU, with a certain obstacle avoidance function. The prototype experiments prove that the extension control instrument developed in this paper based on the Kalman filter can quickly and accurately identify head motion and accurately control the movement of the wheelchair. It is easy to operate and has strong universality, which presents a new low-cost solution for the travel of patients with disabilities.
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(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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