Actuators

28 pages, 32760 KiB

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

Viewed by 123

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, [...] Read more.

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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21 pages, 753 KiB

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

Viewed by 111

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 [...] Read more.

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. Full article

(This article belongs to the Special Issue Actuators in Robotic Control: Volume II)

16 pages, 5747 KiB

Open AccessArticle

Fixed-Time Adaptive Neural Network-Based Trajectory Tracking Control for Workspace Manipulators

by **aofei Chen, Han Zhao, Shengchao Zhen, **aoxiao Liu and **si Zhang

Actuators 2024, 13(7), 252; https://doi.org/10.3390/act13070252 - 1 Jul 2024

Viewed by 159

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, [...] Read more.

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. Full article

(This article belongs to the Section Actuators for Robotics)

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15 pages, 1957 KiB

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

Viewed by 207

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 [...] Read more.

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. Full article

(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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20 pages, 792 KiB

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

Viewed by 217

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. [...] Read more.

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. Full article

(This article belongs to the Section Control Systems)

19 pages, 8420 KiB

Open AccessArticle

Research on Additive Manufacturing Path Planning of a Six-Degree-of-Freedom Manipulator

by **ngguo Han, Xuan Liu, Gaofei Wu, **aohui Song and Lixiu Cui

Actuators 2024, 13(7), 249; https://doi.org/10.3390/act13070249 - 30 Jun 2024

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Abstract

The research on additive manufacturing (AM) path planning mainly focuses on the traditional three-axis AM path planning and five-degree-of-freedom (DOF) AM path planning, while there is less research on six-DOF AM path planning. In the traditional AM path planning algorithm, the filling path [...] Read more.

The research on additive manufacturing (AM) path planning mainly focuses on the traditional three-axis AM path planning and five-degree-of-freedom (DOF) AM path planning, while there is less research on six-DOF AM path planning. In the traditional AM path planning algorithm, the filling path is discontinuous and there is long straight-line printing in a certain direction, which can easily lead to warpage deformation. Therefore, in this work, the six-DOF manipulator is taken as the main object to build an AM platform, and the mechanism of AM path planning of the manipulator is studied. The path planning algorithm combining the contour offset filling method and Hilbert curve filling is optimized by using a cubic uniform B-spline curve, and an AM path planning algorithm suitable for a six-DOF manipulator is obtained. A continuous printing path can be generated by this algorithm. It reduces the existence of long straight-line printing in a certain direction, thereby reducing the warpage deformation of the model and improving the molding quality of the model. The traditional three-axis AM device and the six-DOF AM platform were used to print two kinds of models. By comparing the printing time, the six-DOF AM platform was 43.70% and 37.94% shorter than the traditional three-axis AM device. The same model was printed on a six-DOF AM platform by using the parallel scanning filling method, the path planning algorithm combining contour offset and Hilbert curve, and the method proposed in this paper. Through experimental verification, the average warpage deformation of the model printed by the method proposed in this paper was reduced by 37.81% and 13.79%, respectively, compared with the other two methods. Full article

(This article belongs to the Section Control Systems)

18 pages, 1399 KiB

Open AccessArticle

Design of a Novel Three-Degree-of-Freedom Piezoelectric-Driven Micro-Positioning Platform with Compact Structure

by Chuan Zhao, Zhenlong Li, Fangchao Xu, Hongkui Zhang, Feng Sun, Junjie **, **aoyou Zhang and Lijian Yang

Actuators 2024, 13(7), 248; https://doi.org/10.3390/act13070248 - 28 Jun 2024

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Abstract

In this paper, a novel three-degree-of-freedom piezoelectric-driven micro-positioning platform based on a lever combination compound bridge-type displacement amplification mechanism is proposed. The micro-positioning platform proposed in this paper aims to solve the current problem of the large size and small travel of the [...] Read more.

In this paper, a novel three-degree-of-freedom piezoelectric-driven micro-positioning platform based on a lever combination compound bridge-type displacement amplification mechanism is proposed. The micro-positioning platform proposed in this paper aims to solve the current problem of the large size and small travel of the three-degree-of-freedom piezoelectric-driven micro-positioning platform. In this paper, a lever combination compound bridge-type displacement amplification mechanism combined with a new biaxial flexible hinge is proposed, the structural dimensions of the lever mechanism and the compound bridge mechanism are optimized, and the amplification multiplier is determined. The maximum output simulation analysis of the micro-positioning platform is carried out by using ANSYS, and the experimental test system is built for verification. The validation results show that the maximum errors between simulation and experiment in the z-direction, rotation direction around x, and rotation direction around y are 64 μm, 0.016°, and 0.038°, respectively, and the corresponding maximum relative errors are 5.6%, 2.4%, and 6.6%, respectively, which proves the feasibility of the theoretical design. Full article

(This article belongs to the Section Precision Actuators)

21 pages, 1807 KiB

Open AccessArticle

A Steady-Pressure Control Method for Emulsion Pump Station Based on Online Updating of Optimal Flow Rate

by Peng Xu, Ziming Kou, Juan Wu, Tengyan Hou, Yanwei Peng and Buwen Zhang

Actuators 2024, 13(7), 247; https://doi.org/10.3390/act13070247 - 28 Jun 2024

Viewed by 168

Abstract

In order to solve the problem of unstable fluid supply pressure and serious impact caused by the complicated and changeable working condition of a fully mechanized mining face in coal mines and the sluggish response of the fluid supply system to the fluid [...] Read more.

In order to solve the problem of unstable fluid supply pressure and serious impact caused by the complicated and changeable working condition of a fully mechanized mining face in coal mines and the sluggish response of the fluid supply system to the fluid demand for the hydraulic support, a control method based on online updating generalized regression neural network (GRNN) was proposed. Firstly, the simulated hydraulic support test platform and co-simulation model were built. Secondly, The optimal flow dataset of steady-pressure fluid supply under different working conditions is calculated by simulation. Furthermore, the GRNN prediction model was established by using dataset and online updating learning technology to predict the optimal fluid supply flow according to environmental parameters. Finally, the optimal flow control method of online updating GRNN was established, and numerical research and experimental verification were also carried out in different working conditions. The results indicated that the proposed control method could track the working conditions of the working face in real time and adjusted the fluid supply flow of the emulsion pump station adaptively, which effectively alleviated the pressure fluctuation and pressure shock, and the system pressure was more stable, meeting the demand of steady-pressure fluid supply on the working face. Full article

(This article belongs to the Special Issue Active Flow Control: Recent Advances in Fundamentals and Applications — Volume II)

14 pages, 1228 KiB

Open AccessArticle

Research on Micro-/Nano-Positioning System Driven by a Stepper Motor

by Minjie Liu, Yangyang Yu, Liangyu Cui, Ning Ji and **aofan Deng

Actuators 2024, 13(7), 246; https://doi.org/10.3390/act13070246 - 28 Jun 2024

Viewed by 124

Abstract

To achieve cost-effective micro-/nano-displacement adjustment, this paper integrates the advantages of flexible hinge micro-/nano-displacement transmission. A linear stepper motor is utilized as the driving component to design and develop a high-precision, low-cost micro-/nano-positioning system. The structure, design, and working principles of the micro-/nano-positioning [...] Read more.

To achieve cost-effective micro-/nano-displacement adjustment, this paper integrates the advantages of flexible hinge micro-/nano-displacement transmission. A linear stepper motor is utilized as the driving component to design and develop a high-precision, low-cost micro-/nano-positioning system. The structure, design, and working principles of the micro-/nano-positioning platform are introduced. The scaling factor model between micro-positioning platforms and nano-positioning platforms is analyzed. Static and dynamic models of flexible mechanisms have been established. The dimensions of the mechanical structure and the selection of motors are determined. The mechanical characteristics of the micro-/nano-positioning platform are validated through finite element analysis. To address the characteristic of increasing loads during the transmission process, an intelligent control system based on current feedback is designed and developed. The integration of drive and control provides a high level of system integration. Finally, experimental calibration was conducted to test the motion characteristics of the linear stepper motor-driven micro-/nano-positioning platform. It achieved a minimum displacement control resolution of 100 nm and demonstrated a certain level of stability. Full article

(This article belongs to the Special Issue Recent Developments in Precision Actuation Technologies)

22 pages, 2348 KiB

Open AccessArticle

Cooperative Integrated Guidance and Control for Active Target Protection in Three-Player Conflict

by **aopeng Gong, Wanchun Chen and Zhongyuan Chen

Actuators 2024, 13(7), 245; https://doi.org/10.3390/act13070245 - 28 Jun 2024

Viewed by 208

Abstract

This paper addresses the active target protection problem in a three-player (Target–Attacker–Defender, TAD) conflict by proposing a cooperative integrated guidance and control (IGC) strategy. Unlike previous studies that have designed guidance and control loops separately, this work establishes an IGC model by linearizing [...] Read more.

This paper addresses the active target protection problem in a three-player (Target–Attacker–Defender, TAD) conflict by proposing a cooperative integrated guidance and control (IGC) strategy. Unlike previous studies that have designed guidance and control loops separately, this work establishes an IGC model by linearizing both the translational motion and the rotational motion of the vehicles, thereby generating actuator commands directly. This model integrates the kinematics and short-period dynamics, providing a more comprehensive and accurate representation of the vehicles’ characteristics. Based on the linearization and order reduction, differential game theory and the sweep method are employed to derive and analytically solve the Riccati differential equation, yielding an optimal control strategy with an explicit expression. The theoretical rigor of the proposed approach is ensured through a proof of optimality sufficiency. Furthermore, factors influencing the computational accuracy of the Riccati equation solution, including the singular values of the control matrix and condition numbers of the solution matrix, are analyzed. Taking into account the dynamic response and limitations of the actuators, numerical simulations demonstrate the effectiveness and superiority of the proposed IGC strategy in intercepting the attacker and protecting the target compared to traditional separated guidance and control designs. Full article

(This article belongs to the Special Issue Dynamics and Control of Aerospace Systems)

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21 pages, 15605 KiB

Open AccessArticle

Integration of Virtual Reality-Enhanced Motor Imagery and Brain-Computer Interface for a Lower-Limb Rehabilitation Exoskeleton Robot

by Chih-Jer Lin and Ting-Yi Sie

Actuators 2024, 13(7), 244; https://doi.org/10.3390/act13070244 - 28 Jun 2024

Viewed by 241

Abstract

In this study, we integrated virtual reality (VR) goggles and a motor imagery (MI) brain-computer interface (BCI) algorithm with a lower-limb rehabilitation exoskeleton robot (LLRER) system. The MI-BCI system was integrated with the VR goggles to identify the intention classification system. The VR [...] Read more.

In this study, we integrated virtual reality (VR) goggles and a motor imagery (MI) brain-computer interface (BCI) algorithm with a lower-limb rehabilitation exoskeleton robot (LLRER) system. The MI-BCI system was integrated with the VR goggles to identify the intention classification system. The VR goggles enhanced the immersive experience of the subjects during data collection. The VR-enhanced electroencephalography (EEG) classification model of a seated subject was directly applied to the rehabilitation of the LLRER wearer. The experimental results showed that the VR goggles had a positive effect on the classification accuracy of MI-BCI. The best results were obtained with subjects in a seated position wearing VR, but the seated VR classification model cannot be directly applied to rehabilitation triggers in the LLRER. There were a number of confounding factors that needed to be overcome. This study proposes a cumulative distribution function (CDF) auto-leveling method that can apply the seated VR model to standing subjects wearing exoskeletons. The classification model of seated VR had an accuracy of 75.35% in the open-loop test of the LLRER, and the accuracy of correctly triggering the rehabilitation action in the closed-loop gait rehabilitation of LLRER was 74%. Preliminary findings regarding the development of a closed-loop gait rehabilitation system activated by MI-BCI were presented. 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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24 pages, 2151 KiB

Open AccessArticle

Optimization Design of Permanent Magnet Synchronous Motor Based on Multi-Objective Artificial Hummingbird Algorithm

by Shaoru Zhang, Hui Yan, Likun Yang, Hua Zhao, **uju Du and Jielu Zhang

Actuators 2024, 13(7), 243; https://doi.org/10.3390/act13070243 - 27 Jun 2024

Viewed by 283

Abstract

The interior permanent magnet synchronous motor (IPMSM) is known for its high output torque, strong overload capacity, and high power density, making it a popular choice in the electric vehicle industry. This paper proposes an improved multi-objective artificial hummingbird algorithm that combines chaotic [...] Read more.

The interior permanent magnet synchronous motor (IPMSM) is known for its high output torque, strong overload capacity, and high power density, making it a popular choice in the electric vehicle industry. This paper proposes an improved multi-objective artificial hummingbird algorithm that combines chaotic map**, adaptive weights, and dynamic crowding entropy. An optimization strategy that combines the Taguchi method with the Improved Multi-Objective Artificial Hummingbird Algorithm (IMOAHA), is proposed to minimize torque ripple and back electromotive force in the interior permanent magnet synchronous motor while simultaneously increasing the average torque of the motor. Taking the 8-pole 48-slot interior permanent magnet synchronous motor as an example, the optimization objectives include back electromotive force, average torque, and torque ripple. The rotor-related structural parameters are used as optimization variables. First, the Taguchi method is employed to identify parameters that significantly influence the optimization objectives. Subsequently, response surface fitting is used to establish the relationship between the optimization objectives and parameters. Finally, the multi-objective artificial hummingbird algorithm is utilized for optimization. By comparing the finite element analysis of the motor models before and after optimization, it is evident that the improved multi-objective artificial hummingbird algorithm can effectively enhance the performance of the interior permanent magnet synchronous motor. Full article

20 pages, 1385 KiB

Open AccessArticle

Hybrid Control of Soft Robotic Manipulator

by Arnau Garriga-Casanovas, Fahim Shakib, Varell Ferrandy and Enrico Franco

Actuators 2024, 13(7), 242; https://doi.org/10.3390/act13070242 - 27 Jun 2024

Viewed by 210

Abstract

Soft robotic manipulators consisting of serially stacked segments combine actuation and structure in an integrated design. This design can be miniaturised while providing suitable actuation for potential applications that may include endoluminal surgery and inspections in confined environments. The control of these robots, [...] Read more.

Soft robotic manipulators consisting of serially stacked segments combine actuation and structure in an integrated design. This design can be miniaturised while providing suitable actuation for potential applications that may include endoluminal surgery and inspections in confined environments. The control of these robots, however, remains challenging, due to the difficulty in accurately modelling the robots, in co** with their redundancies, and in solving their full inverse kinematics. In this work, we explore a hybrid approach to control serial soft robotic manipulators that combines machine learning (ML) to estimate the inverse kinematics with closed-loop control to compensate for the remaining errors. For the ML part, we compare various approaches, including both kernel-based learning and more general neural networks. We validate the selected ML model experimentally. For the closed-loop control part, we first explore Jacobian formulations using both synthetic models and numerical approximations from experimental data. We then implement integral control actions using both these Jacobians, and evaluate them experimentally. In an experimental validation, we demonstrate that the hybrid control approach achieves setpoint regulation in a robot with six inputs and four outputs. Full article

(This article belongs to the Special Issue Soft Robotics: Actuation, Control, and Application)

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21 pages, 7946 KiB

Open AccessArticle

Design, Modeling, and Vibration Control of a Damper Based on Magnetorheological Fluid and Elastomer

by Zhuang **, Fufeng Yang, **aoting Rui, Min Jiang and Jiaqi Wang

Actuators 2024, 13(7), 241; https://doi.org/10.3390/act13070241 - 27 Jun 2024

Viewed by 226

Abstract

The aim of this study is to propose a damper based on magnetorheological (MR) fluid and elastomer for application in vehicle engine mounting systems to dissipate the vibration energy transferred from the engine to the vehicle body. The magnetic circuit structure of the [...] Read more.

The aim of this study is to propose a damper based on magnetorheological (MR) fluid and elastomer for application in vehicle engine mounting systems to dissipate the vibration energy transferred from the engine to the vehicle body. The magnetic circuit structure of the damper has been precisely designed, and its reasonableness has been verified by static magnetic field simulation. After the principle prototype’s completion, the damper’s mechanical properties are tested by an electro–hydraulic servo fatigue machine. The results show that with the current increase, the damper’s in-phase stiffness increases by 20.6%. The equivalent dam** improves by 81.6%, which indicates that the damper has a good MR effect. A new phenomenological model is proposed, and a genetic algorithm is used to identify the parameters of the model. Finally, a 1/4 vehicle engine vibration dam** system model is established and a dynamics simulation is carried out. The simulation results show that the damper effectively reduces the vibration transmitted from the engine to the body, and the vibration-dam** effect is even more obvious through sky-hook control. This proves that the damper proposed in this study has good vibration-dam** performance. Full article

(This article belongs to the Special Issue Magnetorheological Actuators and Dampers)

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21 pages, 7993 KiB

Open AccessArticle

Stable Rapid Sagittal Walking Control for Bipedal Robot Using Passive Tendon

by Haibo Gao, Shengjun Wang, Kaizheng Shan, Changxi Mu, **n Wang, Bo Su and Haitao Yu

Actuators 2024, 13(7), 240; https://doi.org/10.3390/act13070240 - 26 Jun 2024

Viewed by 325

Abstract

This paper presents the development, control, and experimental validation of a novel bipedal robot with a passive tendon. The robot, featuring foldable legs, coaxial actuation, and compact folded size, is endowed with a leg configuration with a five-bar mechanism. Based on biological observations [...] Read more.

This paper presents the development, control, and experimental validation of a novel bipedal robot with a passive tendon. The robot, featuring foldable legs, coaxial actuation, and compact folded size, is endowed with a leg configuration with a five-bar mechanism. Based on biological observations of human walking, a passive artificial tendon made of emulsion is fabricated to work in conjunction with a tensioning device, providing adaptive heel touchdown and toe push-off in sync with single-leg movement. The tailored control framework for the bipedal robot is further established with the double-layer architecture. The regulation layer employs the linear inverted pendulum (LIP) model to generate reference trajectory of the center of mass (CoM) with a dead-beat style of parameter adjustment. An inverse-dynamics-based whole-body controller (WBC) is applied to enforce the full-order dynamics of the bipedal robot to reproduce the LIP model’s behavior. We carry out the experiments on the physical prototype to evaluate the walking performance of the developed bipedal robot. The results show that the robot achieves stable walking at the speed of 0.8 m/s (almost twice the leg length/s) and exhibits robustness to external push disturbance. Full article

(This article belongs to the Section Actuators for Robotics)

15 pages, 5779 KiB

Open AccessArticle

Development of the Anthropomorphic Arm for Collaborative and Home Service Robot CHARMIE

by Fawad A. Syed, Gil Lopes and A. Fernando Ribeiro

Actuators 2024, 13(7), 239; https://doi.org/10.3390/act13070239 - 26 Jun 2024

Viewed by 334

Abstract

Service robots are rapidly transitioning from concept to reality, making significant strides in development. Similarly, the field of prosthetics is evolving at an impressive pace, with both areas now being highly relevant in the industry. Advancements in these fields are continually pushing the [...] Read more.

Service robots are rapidly transitioning from concept to reality, making significant strides in development. Similarly, the field of prosthetics is evolving at an impressive pace, with both areas now being highly relevant in the industry. Advancements in these fields are continually pushing the boundaries of what is possible, leading to the increasing creation of individual arm and hand prosthetics, either as standalone units or combined packages. This trend is driven by the rise of advanced collaborative robots that seamlessly integrate with human counterparts in real-world applications. This paper presents an open-source, 3D-printed robotic arm that has been assembled and programmed using two distinct approaches. The first approach involves controlling the hand via teleoperation, utilizing a camera and machine learning-based hand pose estimation. This method details the programming techniques and processes required to capture data from the camera and convert it into hardware signals. The second approach employs kinematic control using the Denavit-Hartenbergmethod to define motion and determine the position of the end effector in 3D space. Additionally, this work discusses the assembly and modifications made to the arm and hand to create a cost-effective and practical solution. Typically, implementing teleoperation requires numerous sensors and cameras to ensure smooth and successful operation. This paper explores methods enabled by artificial intelligence (AI) that reduce the need for extensive sensor arrays and equipment. It investigates how AI-generated data can be translated into tangible hardware applications across various fields. The advancements in computer vision, combined with AI capable of accurately predicting poses, have the potential to revolutionize the way we control and interact with the world around us. Full article

(This article belongs to the Special Issue Advanced Actuation, Intelligent Sensor and Precise Manipulation Technology in Human–Robot Interaction)

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25 pages, 21047 KiB

Open AccessArticle

Design and Implementation of a Hardware-in-the-Loop Air Load Simulation System for Testing Aerospace Actuators

by Alessandro Dell’Amico

Actuators 2024, 13(7), 238; https://doi.org/10.3390/act13070238 - 25 Jun 2024

Viewed by 597

Abstract

This paper presents the design and implementation of the hardware and control strategies of an electrohydraulic air load simulation system for testing aerospace actuators. The system is part of an Iron Bird, which is an energy management research platform developed in collaboration between [...] Read more.

This paper presents the design and implementation of the hardware and control strategies of an electrohydraulic air load simulation system for testing aerospace actuators. The system is part of an Iron Bird, which is an energy management research platform developed in collaboration between Saab AB and Linkö** University. The purpose of the air load system is to provide realistic forces on the test object through the integration of a flight simulator for full mission evaluation. The challenge with electrohydraulic force control is tackled by increasing the hydraulic capacitance from increased load cylinder dead volumes, together with a feed-forward link based on accurate modelling of the test object and load system by adopting an optimisation routine to find model parameters. The system is implemented for both an electromechanical and servohydraulic actuator as test objects with different performance requirements. The control design is based on nonlinear and linear modelling of the system, and experimental test data are used to tune the models. Finally, test results of the air load system prove its force-tracking performance. Full article

(This article belongs to the Special Issue Flight Control Systems and Dynamic Simulation for Aerospace Applications)

20 pages, 7394 KiB

Open AccessArticle

A Simple Curvature-Based Backward Path-Tracking Control for a Mobile Robot with N Trailers

by Tianrui Zhao, Weining Huang, Pengjie Xu, Wei Zhang, Peixing Li and Yanzheng Zhao

Actuators 2024, 13(7), 237; https://doi.org/10.3390/act13070237 - 25 Jun 2024

Viewed by 259

Abstract

This paper introduces a two-tier feedback control law for the path tracking of a mobile robot equipped with N on-axle trailers. Initially, through a recursive design process, the curvature-tracking challenge is converted into stabilizing the joint angles at predefined reference values. This design [...] Read more.

This paper introduces a two-tier feedback control law for the path tracking of a mobile robot equipped with N on-axle trailers. Initially, through a recursive design process, the curvature-tracking challenge is converted into stabilizing the joint angles at predefined reference values. This design approach is straightforward and can be easily extended to configurations with multiple trailers. Using input-to-state stability analysis, we demonstrate the asymptotic stability of the closed-loop system, which is structured in cascade form. Furthermore, we reformulate the path-tracking problem as a curvature-planning challenge and propose an algorithm to determine the desired curvature for the tail trailer. The simulation results validate the effectiveness of this novel algorithm in truck-trailer systems. Full article

(This article belongs to the Special Issue Advances in Dynamics and Motion Control of Unmanned Aerial/Underwater/Ground Vehicles)

13 pages, 1382 KiB

Open AccessArticle

Current State, Needs, and Opportunities for Wearable Robots in Military Medical Rehabilitation and Force Protection

by Rory A. Cooper, George Smolinski, Jorge L. Candiotti, Shantanu Satpute, Garrett G. Grindle, Tawnee L. Sparling, Michelle J. Nordstrom, **aoning Yuan, Allison Symsack, Chang Dae Lee, Nicola Vitiello, Steven Knezevic, Thomas G. Sugar, Urs Schneider, Verena Kopp, Mirjam Holl, Ignacio Gaunaurd, Robert Gailey, Paolo Bonato, Ron Poropatich, David J. Adet, Francesco Clemente, James Abbas and Paul F. Pasquina Show full author list Hide full author list

Actuators 2024, 13(7), 236; https://doi.org/10.3390/act13070236 - 24 Jun 2024

Viewed by 374

Abstract

Despite advances in wearable robots across various fields, there is no consensus definition or design framework for the application of this technology in rehabilitation or musculoskeletal (MSK) injury prevention. This paper aims to define wearable robots and explore their applications and challenges for [...] Read more.

Despite advances in wearable robots across various fields, there is no consensus definition or design framework for the application of this technology in rehabilitation or musculoskeletal (MSK) injury prevention. This paper aims to define wearable robots and explore their applications and challenges for military rehabilitation and force protection for MSK injury prevention. We conducted a modified Delphi method, including a steering group and 14 panelists with 10+ years of expertise in wearable robots. Panelists presented current wearable robots currently in use or in development for rehabilitation or assistance use in the military workforce and healthcare. The steering group and panelists met to obtain a consensus on the wearable robot definition applicable for rehabilitation or primary injury prevention. Panelists unanimously agreed that wearable robots can be grouped into three main applications, as follows: (1) primary and secondary MSK injury prevention, (2) enhancement of military activities and tasks, and (3) rehabilitation and reintegration. Each application was presented within the context of its target population and state-of-the-art technology currently in use or under development. Capturing expert opinions, this study defines wearable robots for military rehabilitation and MSK injury prevention, identifies health outcomes and assessment tools, and outlines design requirements for future advancements. 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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18 pages, 5114 KiB

Open AccessArticle

Incorporating Human–Machine Transition into CACC Platoon Guidance Strategy for Actuator Failure

by Qingchao Liu and Ling Gong

Actuators 2024, 13(7), 235; https://doi.org/10.3390/act13070235 - 24 Jun 2024

Viewed by 218

Abstract

This study proposes a guidance strategy based on human–machine transition (HMT) for cooperative adaptive cruise control (CACC) truck platoon actuator failures. Existing research on the CACC platoon mainly focuses on upper-level planning and rarely considers platoon planning failures caused by actuator failures. This [...] Read more.

This study proposes a guidance strategy based on human–machine transition (HMT) for cooperative adaptive cruise control (CACC) truck platoon actuator failures. Existing research on the CACC platoon mainly focuses on upper-level planning and rarely considers platoon planning failures caused by actuator failures. This study proposes that the truck in the platoon creates sufficient space on the target lane through HMT when the actuator fails, thereby promoting lane changes for the entire team. The effectiveness of the proposed strategy is evaluated using the Simulation of Urban Mobility (SUMO) simulation. The results demonstrate that under conditions ensuring the normal operation of traffic flow, this guidance strategy enhances the platoon’s lane-changing capability. In addition, this strategy exhibits stronger robustness and efficiency in different traffic densities. This guidance strategy provides valuable insights into improving the driving efficiency of CACC truck platoons in complex road environments. Full article

(This article belongs to the Special Issue Actuator Fault Diagnosis, State Detection and Fault Tolerant Control for Ground and Rail Vehicles)

18 pages, 6359 KiB

Open AccessArticle

Research on Multi-Mode Variable Parameter Intelligent Shift Control Method of Loader Based on RBF Network

by Guanghua Wu, Tianyu ** and Junnian Wang

Actuators 2024, 13(7), 234; https://doi.org/10.3390/act13070234 - 24 Jun 2024

Viewed by 234

Abstract

The loader is one of the most widely used pieces of engineering machinery in the world for soil transportation, loading and unloading materials, and low-intensity shovel digging operations in harsh and complex operating conditions; it requires very frequent shifting and has other challenging [...] Read more.

The loader is one of the most widely used pieces of engineering machinery in the world for soil transportation, loading and unloading materials, and low-intensity shovel digging operations in harsh and complex operating conditions; it requires very frequent shifting and has other challenging characteristics. In order to realize automatic frequent shifting, we need to better design the shifting rules in the shifting process, improve the shifting quality and working efficiency, and solve the key engineering problems of energy saving and high efficiency in the shifting process of loaders. In this paper, a 7-ton wheel loader is taken as the research object, the loader shoveling process of the four operating modes is analyzed, and a multi-mode variable parameter shift law is designed. Aiming at the complicated and nonlinear characteristics of the power transmission system of the loader, an intelligent shift control method based on an RBF neural network is proposed. Finally, the simulation test and the clutch shift oil pressure test are carried out. From the test results, the clutch test oil pressure curve obviously shows a four-stage upward trend during shifting, and the buffering effect is obvious. The designed multi-mode variable-parameter intelligent shift law of the loader is reasonable and feasible, and the shift recognition rate reaches 97.92%, which provides theoretical support for the realization of intelligent automatic speed change control of the loader, and it certainly has engineering value. Full article

(This article belongs to the Section Actuators for Land Transport)

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20 pages, 669 KiB

Open AccessArticle

Disturbance-Observer-Based Sliding-Mode Speed Control for Synchronous Reluctance Motor Drives via Generalized Super-Twisting Algorithm

by Yong-Chao Liu

Actuators 2024, 13(7), 233; https://doi.org/10.3390/act13070233 - 22 Jun 2024

Viewed by 236

Abstract

In this study, a novel composite speed controller combining a sliding-mode speed controller with a disturbance observer is proposed for the vector-controlled synchronous reluctance motor (SynRM) drive system. The proposed composite speed controller employs the generalized super-twisting sliding-mode (GSTSM) algorithm to construct both [...] Read more.

In this study, a novel composite speed controller combining a sliding-mode speed controller with a disturbance observer is proposed for the vector-controlled synchronous reluctance motor (SynRM) drive system. The proposed composite speed controller employs the generalized super-twisting sliding-mode (GSTSM) algorithm to construct both the speed controller and the disturbance observer. The GSTSM speed controller is utilized to stabilize the speed tracking error dynamics in finite time, while the GSTSM disturbance observer compensates for the total disturbance in the speed tracking error dynamics, which includes external disturbances and parametric uncertainties. Under the framework of the constant direct-axis current component vector control strategy for the SynRM drive system, comparative simulation studies are conducted among the standard STSM speed controller, the GSTSM speed controller, the composite speed controller using a GSTSM speed controller and a standard STSM disturbance observer, and the proposed composite speed controller. The effectiveness and superiority of the proposed composite speed controller are verified through simulation results. Full article

(This article belongs to the Section Control Systems)

31 pages, 2406 KiB

Open AccessReview

Solid-State Electromechanical Smart Material Actuators for Pumps—A Review

by Eva Ann Sideris, Hendrik Cornelis de Lange, Urmas Johanson and Tarmo Tamm

Actuators 2024, 13(7), 232; https://doi.org/10.3390/act13070232 - 22 Jun 2024

Viewed by 290

Abstract

Solid-state electromechanical smart material actuators are versatile as they permit diverse shapes and designs and can exhibit different actuation modes. An important advantage of these actuators compared to conventional ones is that they can be easily miniaturized to a sub-millimeter scale. In recent [...] Read more.

Solid-state electromechanical smart material actuators are versatile as they permit diverse shapes and designs and can exhibit different actuation modes. An important advantage of these actuators compared to conventional ones is that they can be easily miniaturized to a sub-millimeter scale. In recent years, there has been a great surge in novel liquid pumps operated by these smart material actuators. These devices create opportunities for applications in fields ranging from aerospace and robotics to the biomedical and drug delivery industries. Although these have mainly been prototypes, a few products have already entered the market. To assist in the further development of this research track, we provide a taxonomy of the electromechanical smart material actuators available, and subsequently focus on the ones that have been utilized for operating pumps. The latter includes unidirectional shape memory alloy-, piezoelectric ceramic-, ferroelectric polymer-, dielectric elastomer-, ionic polymer metal composite- and conducting polymer-based actuators. Their properties are reviewed in the context of engineering pumps and summarized in comprehensive tables. Given the diverse requirements of pumps, these varied smart materials and their actuators offer exciting possibilities for designing and constructing devices for a wide array of applications. Full article

(This article belongs to the Special Issue Actuators in 2024)

19 pages, 13766 KiB

Open AccessArticle

Development of Static Test Equipment and a System for Lever-Loaded Air Springs

by Shengli Zhao, Yirui Zhang, Baojun Qu, **angyu Tian and Qijun Zhu

Actuators 2024, 13(7), 231; https://doi.org/10.3390/act13070231 - 22 Jun 2024

Viewed by 246

Abstract

In light of the heavy load applied by traditional air spring test equipment and its complex structural system design, a lever-type torque loading air spring test system is designed. It adopts the principle of Chinese scales to apply the load on the air [...] Read more.

In light of the heavy load applied by traditional air spring test equipment and its complex structural system design, a lever-type torque loading air spring test system is designed. It adopts the principle of Chinese scales to apply the load on the air spring in the form of proportional amplification, which can apply a simulated load on the air spring of 500–800 kg, using the vertical sliding shaft as the transverse limit to make the air spring elongate and compress by 280 mm in the longitudinal direction. The measurement and control system of the test equipment is then developed based on the LabVIEW platform, and the required sensors are selected and installed. The system can achieve real-time data acquisition of the air pressure, load, height and other parameters of the air spring and air spring charging and discharging control. Following the debugging of the function of the test equipment, the function of each subsystem is normal and able to meet the requirements of air spring characteristic and pressure tightness tests. For small spaces, such as laboratories, by reducing the installation of hydraulic and other oil source systems, avoiding the use of large mass blocks to simulate the loading of air spring loads and optimizing the complex installation and debugging process, this miniaturized design for air spring test equipment has benefits for practical applications. Full article

(This article belongs to the Special Issue Fault Detection and Isolation, Fault Tolerant Control for Autonomous and Transport Vehicles)

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Actuators, Volume 13, Issue 7 (July 2024) – 24 articles

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