Search Results (854)

Global agriculture is confronting unprecedented pressures from population growth, diminishing arable land, and severe rural labor scarcity, necessitating the advancement of intelligent agricultural equipment. As a core component of precision farming, unmanned agricultural tractors demand highly accurate and robust path tracking control. However, conventional methods often fail to cope with unstructured terrain and dynamic wheel slip under real field conditions. This paper proposes an extended state observer (ESO)-based improved Stanley guidance law, which incorporates real-time sideslip angle observation, adaptive preview-based path curvature compensation, and a sliding mode heading controller. The ESO estimates lateral slip caused by varying soil conditions, while the modified Stanley law utilizes look-ahead path information to proactively adjust the desired heading angle during high-curvature turns. Both co-simulation in Matlab-Carsim and field experiments demonstrate that the proposed method significantly reduces lateral tracking error and overshoot, outperforming classical algorithms such as fuzzy Stanley and sliding mode controller, especially in U-turn scenarios and under low-adhesion conditions. Full article

Hand rehabilitation exoskeletons play a critical role in restoring motor function in patients with stroke or hand injuries. However, most existing designs rely on fixed-axis assumptions, neglecting the rolling–sliding coupling of finger joints that causes instantaneous center of rotation (ICOR) drift, leading to kinematic misalignment and localized pressure concentrations. This study proposes the Instant Radius Method (IRM) based on medical imaging to continuously model ICOR trajectories of the MCP, PIP, and DIP joints, followed by the construction of an equivalent ICOR through curve fitting. Crossing-type biomimetic kinematic pairs were designed according to the equivalent ICOR and integrated into a three-loop ten-linkage exoskeleton capable of dual DOFs per finger (flexion–extension and abduction–adduction, 10 DOFs in total). Kinematic validation was performed using IMU sensors (Delsys) to capture joint angles, and interface pressure distribution at MCP and PIP was measured using thin-film pressure sensors. Experimental results demonstrated that with biomimetic kinematic pairs, the exoskeleton’s fingertip trajectories matched physiological trajectories more closely, with significantly reduced RMSE. Pressure measurements showed a reduction of approximately 15–25% in mean pressure and 20–30% in peak pressure at MCP and PIP, with more uniform distributions. The integrated framework of IRM-based modeling–equivalent ICOR–biomimetic kinematic pairs–multi-DOF exoskeleton design effectively enhanced kinematic alignment and human–machine compatibility. This work highlights the importance and feasibility of ICOR alignment in rehabilitation robotics and provides a promising pathway toward personalized rehabilitation and clinical translation. Full article

Self-fluxing Ni-based coatings (NiCrFeBSiC) were deposited through gas-flame spraying and evaluated in three conditions: as-sprayed, flame-remelted, and furnace-heat-treated (1025 °C/5 min). Phase analysis (XRD) revealed FeNi₃ together with strengthening carbides/borides (e.g., Cr₇C₃, Fe₂₃(C,B)₆); post-treatments increased lattice order. Cross-sectional image analysis showed progressive densification (thickness ~805→625→597 µm) and a drop in porosity from 7.866% to 3.024% to 1.767%. Surface roughness decreased from Ra = 31.860 to 14.915 to 13.388 µm. Near-surface microhardness rose from 528.7 ± 2.3 to 771.6 ± 4.6 to 922.4 ± 5.7 HV, while adhesion strength (ASTM C633) improved from 18 to 27 to 34 MPa. Wettability followed the densification trend, with the contact angle increasing from 53.152° to 79.875° to 89.603°. Under dry ball-on-disk sliding against 100Cr6, the friction coefficient decreased and stabilized (0.648 ± 0.070 → 0.173 ± 0.050 → 0.138 ± 0.003), and the counterbody wear-scar area shrank by ~95.6% (0.889 → 0.479 → 0.0395 mm²). Wear-track morphology evolved from abrasive micro-cutting (as-sprayed) to reduced ploughing (flame-remelted) and a polishing-like regime with a thin tribo-film (furnace). Potentiodynamic tests indicated the lowest corrosion rate after furnace treatment (CR ≈ 0.005678 mm·year⁻¹). Overall, furnace heat treatment provided the best structure–property balance (lowest porosity and Ra, highest HV and adhesion, lowest and most stable μ, and superior corrosion resistance) and is recommended to extend the service life of NiCrFeBSiC coatings under dry sliding. Full article

This study investigates the development of axial force in micro anti-slide piles under soil movement during slope stabilization. Axial force arises from two primary mechanisms: axial soil displacement ($z_{\mathrm{s}}$) and pile kinematics. The former plays a dominant role, producing either tensile or compressive axial force depending on the direction of $z_{\mathrm{s}}$, while the kinematically induced component remains consistently tensile. A sliding angle of $\alpha =5°$ represents an approximate transition point where these two effects balance each other. Furthermore, the two mechanisms exhibit distinct mobilization behaviors: $z_{\mathrm{s}}$-induced axial force mobilizes earlier than both bending moment and shear force, whereas kinematically induced axial force mobilizes significantly later. The study reveals two distinct pile–soil interaction mechanisms depending on proximity to the slip surface: away from the slip surface, axial soil resistance is governed by rigid cross-section translation, whereas near the slip surface, rotation-dominated displacement accompanied by soil–pile separation introduces significant complexity in predicting both the magnitude and direction of axial friction. A hyperbolic formulation was adopted to model both the lateral soil resistance relative to lateral pile–soil displacement (p-y behavior) and the axial frictional resistance relative to axial pile–soil displacement (t-z behavior). Soil resistance equations were derived to explicitly incorporate the effects of cross-sectional rotation and pile–soil separation. A novel beam-spring finite element method (BSFEM) that incorporates both geometric and material nonlinearities of the pile behavior was developed, using a soil displacement-driven solution algorithm. Validation against both numerical simulations and field monitoring data from an engineering application demonstrates the model’s effectiveness in capturing the distribution and evolution of axial deformation and axial force in micropiles under varying soil movement conditions. Full article

Magnetically levitated artificial hearts impose stringent requirements on the blood-pump motor: zero friction, minimal heat generation and full biocompatibility. Traditional mechanical-bearing motors and permanent-magnet bearingless motors fail to satisfy all of these demands simultaneously. A bearingless switched reluctance motor (BSRM), whose rotor contains no permanent magnets, offers a simple structure, high thermal tolerance, and inherent fault-tolerance, making it an ideal drive for implantable circulatory support. This paper proposes an 18/15/6-pole dual-stator BSRM (DSBSRM) that spatially separates the torque and levitation flux paths, enabling independent, high-precision control of both functions. To suppress torque ripple induced by pulsatile blood flow, a variable-overlap TSF-PWM-DITC strategy is developed that optimizes commutation angles online. In addition, a grey-wolf-optimized fast non-singular terminal sliding-mode controller (NRLTSMC) is introduced to shorten rotor displacement–error convergence time and to enhance suspension robustness against hydraulic disturbances. Co-simulation results under typical artificial heart operating conditions show noticeable reductions in torque ripple and speed fluctuation, as well as smaller rotor radial positioning error, validating the proposed motor and control scheme as a high-performance, biocompatible, and reliable drive solution for next-generation magnetically levitated artificial hearts. Full article

This paper focuses on the issues of roof movement and ground pressure behavior in large-height mining extraction of shallow coal seams. By adopting a combined method of theoretical analysis and physical simulation experiments, it establishes a mechanical model for the rotational subsidence of key blocks and a physical simulation test model to conduct stability analysis on the rotational subsidence of key blocks, thereby revealing the characteristics and laws of roof movement. The findings indicate that the horizontal thrust during the rotational subsidence of key blocks increases non-linearly with the rotation angle, exhibiting a higher growth rate when the block size coefficient is less than 0.5. Two modes of instability—sliding and deformation—are observed for key blocks. To prevent sliding instability, the block size coefficient should be maintained below 0.75; however, sliding instability is likely to occur when the rotation angle exceeds 10°. Conversely, smaller rotation angles and larger block size coefficients reduce the likelihood of deformation instability. The reasonable working resistance of the support decreases with the increase in the rotation angle (it decreases sharply when the rotation angle exceeds 10°) and increases with the increase in the block size coefficient. Physical simulation indicates that roof movement is divided into three stages: immediate roof collapse, stratified fracturing and instability of the basic roof, and periodic fracturing of the basic roof. An increase in mining height accelerates the instability of the immediate roof, enlarges the opening of through-layer fissures, shortens the step distance of mining pressure, and heightens the risk of sudden pressure. The research results provide theoretical guidance for the safe and efficient mining with large mining height in shallow coal seams. Full article

With the rapid development of deep-sea resource exploration and marine scientific research, wheeled remotely operated vehicles (ROVs) have become crucial for seabed operations. However, under complex seabed conditions, traditional ROV control systems suffer from insufficient trajectory tracking accuracy, poor disturbance rejection capability, and low dynamic torque distribution efficiency. These issues lead to poor motion stability and high energy consumption on sloped terrains and soft substrates, which limits the effectiveness of deep-sea engineering. To address this, we proposed a comprehensive motion control solution for deep-sea wheeled ROVs. To improve modeling accuracy, a coupled kinematic and dynamic model was developed, together with a body-to-terrain coordinate frame transformation. Based on rigid-body kinematics, three-degree-of-freedom kinematic equations incorporating the slip ratio and sideslip angle were derived. By integrating hydrodynamic effects, seabed reaction forces, the Janosi soil model, and the impact of subsidence depth, a dynamic model that reflects nonlinear wheel–seabed interactions was established. For optimizing disturbance rejection and trajectory tracking, a hierarchical control method was designed. At the kinematic level, an improved model predictive control framework with terminal constraints and quadratic programming was adopted. At the dynamic level, non-singular fast terminal sliding mode control combined with a fixed-time nonlinear observer enabled rapid disturbance estimation. Additionally, a dynamic torque distribution algorithm enhanced traction performance and trajectory tracking accuracy. Full article

Excessive surface friction encountered during metal-forming processes typically leads to die wear and seizure in part surfaces, which consequently shortens the die’s service lifespan and lowers the surface quality of the formed parts. To minimize surface friction, tool surface modification is required. This study focuses on reducing the sliding friction of SKH51 high-speed steel by fabricating micro-grooves with various crosshatch angles using a nanosecond pulse laser. The effects of laser texturing parameters on achieving the groove aspect ratio of 0.1 were investigated. This aspect ratio facilitates lubricant retention and enhances lubrication performance on the contact surfaces. The influence of groove crosshatch angles (30°, 60°, and 90°) on the friction in the sliding contact between a textured high-speed steel disc and an AISI304 stainless steel pin was evaluated using a pin-on-disc test with a constant load. Moreover, the contact pressure distribution and stress concentration associated with each groove pattern were numerically analyzed using the finite element method. The results demonstrated that a laser power of 20 W effectively produced groove geometries with the desired aspect ratio. Among the tested patterns, the surface textured with a 60° crosshatch angle exhibited the lowest coefficient of friction of 0.111, compared to 0.148 for the untextured surface. Finite element analysis further revealed that the 60° crosshatch pattern provided the most balanced combination of load redistribution, reduced mean pressure, and average stress, which may reduce the friction under sliding conditions. These findings confirm that laser surface texturing, particularly with an optimized crosshatch angle, can significantly reduce sliding friction and enhance the tribological performance of high-speed steel tools. Full article

Soil treatment is one of the most energy-intensive agricultural processes. While power take-off (PTO)-powered rotary tillage tools are widely used due to their operational advantages, their energy efficiency requires enhancement. A new PTO-powered rotary tillage tool was designed, with cutting blades inclined at angle β to prevent soil mass accumulation due to soil sliding along the blades, thereby enhancing energy efficiency and tillage quality. A kinematic model was developed to analyze the tool’s motion trajectories. Theoretical analysis substantiated the optimal inclination angle β = 38–42° and elliptical-profile edge configuration of the cutting blades. During field experiments for performance evaluation, the angle of attack was in the range 20° < α < 40°, and the kinematic coefficient varied in the range 1.0 < η < 1.21 in 0.07 increments. Results demonstrated that draught force and torque reduced by 1.3–1.5 and 1.1–1.4 times, respectively, with an increasing kinematic coefficient. Minimal specific total power requirements of 4.5–4.7 kW/m were obtained at the optimal kinematic coefficient, η = 1.14–1.21, and angle of attack, α = 40°. Compared to base ring tillage discs, the new design reduces total power requirements by 14–16%. Furthermore, it provides required tillage quality: soil pulverization ≥ 80%, weed cutting ≥ 97%, crop residue retention ≥ 60%, and roughness of the field soil surface ≤ 3 cm. Full article

To achieve precise trajectory tracking and lateral-roll stability during the coordinated control of high-speed autonomous vehicles under lane-changing conditions, this paper proposes an integrated control strategy based on state estimation with a high-order sliding mode and a double-power sliding mode. Firstly, establish a three-degrees-of-freedom vehicle dynamics model and trajectory-tracking error model that includes yaw lateral-roll coupling, and use an extended Kalman filter to estimate real-time unmeasurable states such as the center of mass roll angle, roll angle, and angular velocity. Then, for the trajectory-tracking subsystem, a high-order sliding-mode controller is designed. By introducing a virtual control variable and an arbitrary-order robust differentiator, the switching signal is implicitly integrated into the derivative of the control variable, significantly reducing chattering and ensuring finite-time convergence. Furthermore, in the lateral stability loop, a double-power convergence law sliding-mode controller is constructed to dynamically allocate yaw moment and roll moment with estimated state as feedback, achieving the decoupling optimization of stability and tracking performance. The joint simulation results show that the proposed strategy significantly outperforms traditional sliding-mode schemes in terms of lateral deviation, heading deviation, and key state oscillations under typical high-speed lane-changing conditions. This can provide theoretical basis and engineering reference for integrated control of autonomous vehicles under high dynamic limit conditions. Full article

Improvements in the aerodynamic performance of the H-Darrieus turbine are crucial to address future energy requirements. This work aims to optimize the behavior of two adjacent turbines through the addition of a dual H-Darrieus rotor. The first rotor is composed of three NACA 0021 blades, while the second comprises a single Eppler 420 blade. This study focuses on 2D CFD simulation based on the solution of the unsteady Reynolds-averaged Navier–Stokes (URANS) equations, using the sliding mesh method and $k-\omega$ SST turbulence model. The simulation results indicate a 17% improvement in the efficiency of the two turbines integrating dual rotors, compared to the two isolated turbines, for $\alpha$ = 0°. Moreover, the power coefficient ${ (C}_P)$ reaches maximum values of 0.49, 0.42, and 0.40 for angles of attack of 30°, 25°, and 20°, respectively, at TSR = 2.51. Conversely, the selection of an optimal angle of attack allows the efficiency of the two H-Darrieus turbines to be increased. It is also shown by the results that the effect of stagnation is reduced and lift is maximized when the optimum distance between two adjacent turbines is chosen. Moreover, the overall aerodynamic performance of the system is enhanced by the potential of a dual-rotor configuration, and the wake between the two turbines is disrupted, which can result in a decrease in energy production within wind farms. Full article

In extended-reach wells, cuttings bed formation in high-deviation sections presents a major challenge for hole cleaning and borehole stability. This study analyzes the morphological and mechanical behavior of cuttings beds, focusing on particle size distribution and repose angle as key indicators of accumulation behavior. The modeling approach considers dominant interparticle forces, including buoyancy and cohesion, while neglecting secondary microscale forces for clarity. A theoretical model is developed to predict repose angles under both rolling and sliding regimes and is calibrated through laboratory-scale experiments using simulated drilling fluid with field-representative rheological properties. Results show that cohesive effects are negligible when cuttings are of similar size but exhibit higher densities. Laboratory measurements reveal that the repose angle of cuttings beds varies between 23.9° and 31.7°, with increasing polyacrylamide (PAM) concentration and particle size contributing to steeper repose angles. Additionally, the rolling repose angle is found to be relatively stable, ranging from 25° to 30°, regardless of fluid or particle property variations. These findings provide a predictive framework and practical guidelines for optimizing hole cleaning strategies and designing more effective models in extended-reach drilling. Full article

To address the problems of insufficient trajectory tracking accuracy, pronounced jitter over undulating terrain, and limited disturbance rejection in orchard mobile robots, this paper proposes a trajectory tracking control strategy based on a double-loop adaptive sliding mode. Firstly, a kinematic model of the orchard robot is constructed and a time-varying integral terminal sliding surface is designed to achieve global fast finite-time convergence. Secondly, a sinusoidal saturation switching function with a variable boundary is employed to suppress the high-frequency chattering inherent in sliding mode control. Thirdly, an improved double-power reaching law (Improved DPRL) is introduced to enhance disturbance rejection in the inner loop while ensuring continuity of the outer-loop output. Finally, Lyapunov stability theory is used to prove the asymptotic stability of the double-loop system. The experimental results show that attitude angle error settles within 0.01 rad after 0.144 s, while the position errors in both the x-axis and y-axis directions settle within 0.01 m after 0.966 s and 0.753 s, respectively. Regarding position error convergence, the Integral of Absolute Error (IAE)/Integral of Squared Error (ISE)/Integral of Time-Weighted Absolute Error (ITAE) are 0.7629 m, 0.7698 m, and 0.2754 m, respectively; for the attitude angle error, the IAE/ISE/ITAE are 0.0484 rad, 0.0229 rad, and 0.1545 rad, respectively. These results indicate faster convergence of both position and attitude errors, smoother control inputs, and markedly reduced chattering. Overall, the findings satisfy the real-time and accuracy requirements of fast trajectory tracking for orchard mobile robots. Full article

In order to solve the problem that it is difficult to take into account the performance constraints between the core functions of insulation, current flow and arc extinguishing of high-voltage vacuum circuit breakers at the same time, this paper proposes a flexible control strategy for the motor operating mechanism of high-voltage vacuum circuit breakers. The relationship between the rotation angle of the motor and the linear displacement of the moving contact of the circuit breaker is analyzed, and the ideal dynamic curve is planned. The motor drive control device is designed, and the phase-shifted full-bridge circuit is used as the boost converter. The voltage and current double closed-loop sliding mode control strategy is used to simulate and verify the realization of multi-stage and stable boost. The experimental platform is built and the experiment is carried out. The results show that under the voltage conditions of 180 V and 150 V, the control range of closing speed and opening speed is increased by 31.7% and 25.9% respectively, and the speed tracking error is reduced by 51.2%. It is verified that the flexible control strategy can meet the ideal action curve of the operating mechanism, realize the precise control of the opening and closing process and expand the control range. The research provides a theoretical basis for the flexible control strategy of the high-voltage vacuum circuit breaker operating mechanism, and provides new ideas for the intelligent operation technology of power transmission and transformation projects. Full article

Functional glass surfaces with tunable wettability are of growing interest in optical, biomedical, and architectural applications. In this study, we investigate the influence of femtosecond laser processing parameters—including power, scanning speed, and repetition rate—on the surface morphology, wettability, and optical properties of Panda glass. Laser structuring generated microscale ablation features and increased surface roughness (arithmetic mean height, Sa, rising from ~0.02 µm for pristine glass to ~1.85 µm under optimized conditions). The treated surfaces exhibited enhanced hydrophobicity, with static water contact angles up to ~82° and sliding angles exceeding 50°, indicating significant droplet pinning. Optical characterization further showed a reduction in transmittance at 550 nm from ~92% (pristine) to ~68% after laser treatment, consistent with increased scattering by surface textures. These findings demonstrate that femtosecond laser processing is an effective mask-free method to enhance the hydrophobicity of glass surfaces and establish clear process–structure–property relationships, providing guidance for future optimization toward superhydrophobic performance. Full article