Search Results (3,902)

In order to perform complex manipulation and grasp tasks, robotic hands require sensors that can handle increasingly demanding functionality and degrees of freedom. This research paper proposes a radiofrequency sensor that uses a wireless connection between a probe and a tag. A compact and low-profile antenna is mounted on the hand and functions as a probe to read a printed passive resonator on the plastic object being targeted, operating within a pre-touch sensing range. The grasping strategy consists of four stages that involve planar alignment in up-to-down and left-to-right directions between the probe and tag, the search for an appropriate distance from the object, and rotational (angular) alignment. The real and imaginary components of the probe-input impedance are analyzed for different orientation strategies and positioning between the resonator on the object and the probe. These data are used to deduce the orientation of the hand relative to the target object and to determine the optimal position for grasping. Full article

The Rational Function Model (RFM) is composed of numerous highly correlated Rational Polynomial Coefficients (RPCs), establishing a mathematical relationship between two-dimensional images and three-dimensional spatial coordinates. Due to the existence of ill-posedness and overparameterization, the estimated RPCs are sensitive to any slight perturbations in the observation data, particularly when handling a limited number of Ground Control Points (GCPs). Recently, Principal Component Analysis (PCA) has demonstrated significant performance improvements in the RFM optimization problem. In the PCA-based RFM, each Principal Component (PC) is a linear combination of all variables in the design matrix. However, some original variables are noise related and have very small or almost zero contributions to the construction of PCs, which leads to the overparameterization problem and makes the RPC estimation process ill posed. To address this problem, in this paper, we propose an Adaptive Sparse Principal Component Analysis-based RFM method (ASPCA-RFM) for RPC estimation. In this method, the Elastic Net sparsity constraint is introduced to ensure that each PC contains only a small number of original variables, which automatically eliminates unnecessary variables during PC computation. Since the optimal regularization parameters of the Elastic Net vary significantly in different scenarios, an adaptive regularization parameter approach is proposed to dynamically adjust the regularization parameters according to the explained variance of PCs and degrees of freedom. By adopting the proposed method, the noise and error in the design matrix can be reduced, and the ill-posedness and overparameterization of the RPC estimation can be significantly mitigated. Additionally, we conduct extensive experiments to validate the effectiveness of our method. Compared to existing state-of-the-art methods, the proposed method yields markedly improved or competitive performance. Full article

This study investigates the effectiveness of positive position feedback (PPF) in reducing vibration amplitudes in an electric vehicle generator, specifically at super harmonic resonance (SHR) with 1:1 Internal Resonance (IR). Here is a breakdown. Simplified Model: The study uses a simplified nonlinear dynamic model (one degree of freedom, up to fifth-order nonlinear components) with external force, analyzed using the Multiple Time Scales Method (MTSM) with a first-order approximation. Focus on Resonance: The primary focus is on understanding the system’s behavior at SHR with 1:1 IR and how PPF can mitigate vibrations in this specific scenario. Frequency Response and Controller Influence: Frequency response functions are used to analyze the system’s stability with PPF, examining how different controller parameters affect the main system’s dynamics. Validation: Numerical solutions, obtained using the fourth-order Runge–Kutta method (‘RK-4’), are used to demonstrate and evaluate the system’s amplitude with and without PPF. The analytical and numerical results show strong agreement, validating the model’s accuracy. In essence, the research explores using PPF as a vibration control strategy in a specific resonance condition within an electric vehicle generator, using a combination of analytical and numerical methods for analysis and validation. Full article

For target detection and recognition in a complicated electromagnetic environment, the two-dimensional direction-of-arrival and polarization estimation using a polarization-sensitive array has been receiving increased attention. To efficiently improve the performance of such multi-parameter estimation in practice, this paper proposes a parallel synthetic coprime array with reduced mutual coupling and hardware cost saving and then presents a dimension-reduction compressive sensing-based estimation method. For the proposed array, the polarization types, numbers, and positions of antennas in each subarray are jointly considered to effectively mitigate mutual coupling in the physical array domain and to both enhance degrees of freedom and extend the aperture in the difference coarray domain with the limited physical antennas. By exploring the array configuration, the parameter estimation can be formulated as a block-sparse signal reconstruction problem, and then the one-dimensional sparse reconstruction algorithm is only used once to achieve multi-parameter estimation with automatic pair-matching. The theoretical analysis and simulation results are provided to demonstrate the superior performance of the proposed array and method over the existing techniques. Full article

In the mechanized harvesting of Lycium barbarum L. (L. barbarum), there are prominent problems such as low harvesting efficiency, high damage rate, incomplete separation of leaves and delayed transportation. Therefore, an integrated L. barbarum harvester was designed and developed in this study, which has the functions of picking, undertaking, transportation, winnowing and collection. The design requirements and constraints were identified by cultivation agronomy. Through simulation and physical tests, the tarpaulin was determined as the undertaking material. This machine achieved efficient picking with a vibrating picker with a multi-degree-of-freedom picking arm. The two-stage conveyor belts and the intermediate receiving plate were designed for low loss transportation of fruit. The axial flow fan and secondary buffer device were used to realize winnowing and reduce the damage rate. Through the three-factor and three-level orthogonal test, an optimal working parameter combination was determined: the vibration frequency of the picker was 20 Hz, the conveyor speed was 4 m/min, the airflow speed of the fan was 7 m/s. A field test was conducted under these parameters, and the results showed that the harvesting efficiency was about five times that of manual harvesting. The integrated L. barbarum harvester basically met the harvesting requirements and provided a new scheme for mechanized harvesting. Full article

The increased risk of cardiovascular disease in people with spinal cord injuries motivates work to identify exercise options that improve health outcomes without causing risk of musculoskeletal injury. Handcycling is an exercise mode that may be beneficial for wheelchair users, but further work is needed to establish appropriate guidelines and requires assessment of the external loads. The goal of this research was to predict the six-degree-of-freedom external loads during handcycling from data similar to those which can be measured from inertial measurement units (segment accelerations and velocities) using machine learning. Five neural network models and two ensemble models were compared against a statistical model. A temporal convolutional network (TCN) yielded the best predictions. Predictions of forces and moments in-plane with the crank were the most accurate (r = 0.95–0.97). The TCN model could predict external loads during activities of different intensities, making it viable for different exercise protocols. The ability to predict the loads associated with forward propulsion using wearable-type data enables the development of informed exercise guidelines. Full article

Most optical phenomena result from the interaction of electromagnetic waves with matter. However, the light structure can be eminently more complex than plane waves, with many degrees of freedom and dimensions involved, yielding intricate configurations. Light transcends the conventional landscape of electromagnetism, offering the possibility to tailor light in three dimensions (intermixing all three electric field components), in four-dimensional spacetime (for fields manifesting both temporal and spatial patterns), and, beyond that, to make structured quantum light, tuning its characteristics at an unprecedented new level of control. This article addresses the physical foundations of structured light, its interactions with matter, including the nonlinear regime and probing chirality, its classical benefits with holography as a specific highlight, and quantum mechanical applications. It describes the various applications connecting structured light with material physics, quantum information, and technology. Notably, we discuss weak measurements with structured light acting as the meter with connections to probing structured-light beam shifts at interfaces. Ultimately, revealing the interplay between structured light and matter opens attractive avenues for different new technologies and applications, covering both the classical and the quantum realms. Full article

In recent years, quadcopter-type unmanned aerial vehicles have been preferred in many engineering applications. Because of its nonlinear dynamic model that makes it hard to create optimal control, quadcopter control is one of the main focuses of control engineering and has been studied by many researchers. A quadcopter has six degrees of freedom movement capability and multi-input multi-output structure in its dynamic model. The full nonlinear model of the quadcopter is derived using the results of the experimental studies in the literature. In this study, the control of the quadcopter is realized using the symbolic limited optimal discrete controller synthesis (S-DCS) method. The attitude, altitude, and horizontal movement control of the quadcopter are carried out. To validate the success of the SDCS controller, the control of the quadcopter is realized with fractional order proportional-integral-derivative (FOPID) controllers. The parameters of the FOPID controllers are calculated using Fire Hawk Optimizer, Flying Fox Optimization Algorithm, and Puma Optimizer, which are recently developed meta-heuristic (MH) algorithms. The performance of the S-DCS controller is compared with the performance of the optimal FOPID controllers. In the path planning part of this study, the optimal path planning performances of the SDCS method and the MH algorithms are tested and compared. The optimal solution of the traveling salesman problem (TSP) for a single quadcopter and min-max TSP with multiple depots for multi quadcopters are obtained. The methods and the cases that optimize the dynamic behavior and the path planning of the quadcopter are investigated and determined. Full article

This paper considers external disturbances imposed on vehicle systems. Based on a vehicle dynamics model of the vehicle with three degrees of freedom (3-DOFs), a union disturbance observer (UDO) composed of a nonlinear disturbance observer (NDO) and an extended state observer (ESO) was designed to obtain external disturbances and unmodeled items. Meanwhile, an improved adaptive unscented Kalman filter (iAUKF) with anti-disturbance and anti-noise properties is proposed, based on the UDO and the unscented Kalman filter (UKF) method, to evaluate the sideslip angle of vehicle systems. Finally, a vehicle yaw stability controller was designed based on UDO and the global fast terminal sliding mode control (GFTSMC) method. The results of co-simulation demonstrated that the proposed UDO was effectively able to observe external disturbances and unmodeled items. The proposed iAUKF, which considers external disturbances, not only achieves adaptive updating and adjustment of filtering parameters under different sensor noise intensities but can also resist external disturbances, improving the estimation accuracy and robustness of the UKF. In the anti-disturbance performance test, the maximum estimation error of the sideslip angle of the iAUKF under the three working conditions was less than 0.1°, 0.02°, and 0.5°, respectively. Based on the UDO and the GFTSMC, a vehicle yaw stability controller is described, which improves the accuracy of control and the robustness of the vehicle’s stability control system and greatly strengthens the driving safety of the vehicle. Full article

Background: Physiological curvature changes of the lumbar spine and disc herniation can cause abnormal biomechanical responses of the lumbar spine. Finite element (FE) studies on special weightlifter models are limited, yet understanding stress in damaged lumbar spines is crucial for preventing and rehabilitating lumbar diseases. This study analyzes the biomechanical responses of a weightlifter with lumbar straightening and L4-L5 disc herniation during symmetric bending and lifting to optimize training and rehabilitation. Methods: Based on the weightlifter’s computed tomography (CT) data, an FE lumbar spine model (L1-L5) was established. The model included normal intervertebral discs (IVDs), vertebral endplates, ligaments, and a degenerated L4-L5 disc. The bending angle was set to 45°, and weights of 15 kg, 20 kg, and 25 kg were used. The flexion moment for lifting these weights was theoretically calculated. The model was tilted at 45° in Abaqus 2021 (Dassault Systèmes Simulia Corp., Johnston, RI, USA), with L5 constrained in all six degrees of freedom. A vertical load equivalent to the weightlifter’s body mass and the calculated flexion moments were applied to L1 to simulate the weightlifter’s bending and lifting behavior. Biomechanical responses within the lumbar spine were then analyzed. Results: The displacement and range of motion (ROM) of the lumbar spine were similar under all three loading conditions. The flexion degree increased with the load, while extension remained unchanged. Right-side movement and bending showed minimal change, with slightly more right rotation. Stress distribution trends were similar across loads, primarily concentrated in the vertebral body, increasing with load. Maximum stress occurred at the anterior inferior margin of L5, with significant stress at the posterior joints, ligaments, and spinous processes. The posterior L5 and margins of L1 and L5 experienced high stress. The degenerated L4-L5 IVD showed stress concentration on its edges, with significant stress also on L3-L4 IVD. Stress distribution in the lumbar spine was uneven. Conclusions: Our findings highlight the impact on spinal biomechanics and suggest reducing anisotropic loading and being cautious of loaded flexion positions affecting posterior joints, IVDs, and vertebrae. This study offers valuable insights for the rehabilitation and treatment of similar patients. Full article

An oscillating flow past a structure represents a complex, high-dimensional, and nonlinear flow phenomenon, which can lead to the failure of structures due to material fatigue or constraint relaxation. In order to better understand flow-induced vibration (FIV) and coupled flow fields, a numerical simulation of a two-degrees-of-freedom FIV in a cylinder was conducted. Based on the Lagrangian-based dynamic mode decomposition (L-DMD) method, the vorticity field and motion characteristics of a cylinder were decomposed, reconstructed, and predicted. A comparison was made to the traditional Eulerian-based dynamic mode decomposition (E-DMD) method. The research results show that the first-order mode in the stable phase represents the mean flow field, showcasing the slander tail vortex structure during the vortex-shedding period and the average displacement in the in-line direction. The second mode predominantly captures the crossflow displacement, with a frequency of approximately 0.43 Hz, closely matching the corresponding frequency observed in the CFD results. The higher dominant modes mainly capture outward-spreading, smaller-scale vortex structures with detail displacement characteristics. The motion of the cylinder in the in-line direction was accompanied by symmetric vortex structures, while the motion of the cylinder in the crossflow direction was associated with anti-symmetric vortex structures. Additionally, crossflow displacement will cause a symmetrical vortex structure that spreads laterally along the axis behind the cylinder. Finally, when compared with E-DMD, the L-DMD method demonstrates a notable advantage in analyzing the nonlinear characteristics of FIV. Full article

Coordinated control technology attracts increasing attention to the photovoltaic–battery energy storage (PV-BES) systems for the grid-forming (GFM) operation. However, there is an absence of a unified perspective that reviews the coordinated GFM control for PV-BES systems based on different system configurations. This paper aims to fill the gap by providing a comprehensive review of coordinated GFM control strategies for PV-BES, considering various system configurations. Typical configurations of PV-BES systems are explored, followed by a detailed discussion of conventional GFM control methods used in the PV-BES systems. Furthermore, coordinated GFM controls are analyzed in PV-BES systems based on different configurations, providing the common DC bus configuration as a widely adopted configuration due to its more control degrees of freedom and ease of expansion. Moreover, the mode division and switching coordinated control based on the system power is the most widely used. Furthermore, challenges in the coordinated GFM controls for the PV-BES system in future applications are briefed and emphasized before the conclusion. Full article

With the rapid development of marine engineering in recent years, offshore operations have become increasingly common, making wave compensation platforms crucial for safe operations at sea. This paper presents a pendulum-type wave compensation platform specifically designed for wave compensation applications. The main components of this wave compensation platform include a chassis, support base, hydraulic cylinders, telescopic rods, upper platform, three sets of balancing mechanisms, three sets of tilt angle sensors, and a control system. Firstly, to thoroughly understand the compensatory motion of the pendulum-type three-degree-of-freedom wave compensation platform, kinematic analysis of the entire system was conducted, and the motion inverse solution curves of the mechanism were obtained through simulation using motion simulation software. Secondly, to enhance the compensatory response performance of the platform, a fuzzy PID control algorithm was employed to control the system and achieve attitude control of the platform. Finally, through control system simulation, compared to PID control, fuzzy PID reduces system response delay and successfully meets the expected technical requirements and application needs. Full article

This paper aims to analyze the stability of a special class of single-channel slow-rotating homing missiles using the Frank–Wall stability criterion. To achieve this, starting from the model of a slow-rolling missile with six degrees of freedom (6 DOFs) in the body frame, a 6-DOFs model in the Resal frame is obtained, which is used to linearize the coupled commanded motion. Based on the linearized model, we obtain the structural scheme of the commanded object and define the flight quality parameters. The obtained linear model has a complex representation (with real and imaginary parts) due to the coupling between longitudinal channels for the rolling missile. Then, the kinematic guidance equations, the seeker equations and the actuator relations using a switching function, specific to the slow-rolling single-channel missile, are defined. The guidance kinematic equations, the seeker equations and the actuator model are linearized in the Resal frame, and the structural diagram of the homing missile is constructed. Starting from this, the characteristic polynomial having complex coefficients is determined and then analyzed with the Frank–Wall stability criterion. Based on the analysis, a stability range is determined for the navigation constant $(k)$, and a minimum and possibly a maximum limit for the time to hit the target $\left(t_{go}\right)$ is obtained. The stability range defined for the navigation constant in the linear model is finally validated in the nonlinear model in the body frame. Full article

The perch landing maneuver of a wing-deforming unmanned aerial vehicle (UAV) was investigated through a framework that uses the free, open-source OpenFOAM with 6 degrees of freedom (6DOF) simulations. The framework uses a moving grid to follow the trajectory of the UAV, reducing computational resources. Together with the ability to allow internal grid deformation, sliding mesh, and algorithm addition, it can accurately mimic the entire landing process. Different wing deformation speeds, additional elevator rotation and emulated propeller lift were added to the 6DOF simulations to investigate their effects on the landing maneuver. The results showed that the wing deformation retraction speed has a considerable effect on the trajectory and velocity of the UAV. The wing deformation reduced the forward velocity of the UAV by 32%, from 13.89 to 9 m/s. With the elevator control, the velocity was reduced to 5 m/s. Lastly, and an activation time of 1 s for the emulated propeller lift can further decrease the velocity to around 4.2 m/s. A better algorithm for the emulated propeller lift may be able to give a superior performance. This framework allows us to understand the underlying perch landing maneuver aerodynamics. It can also be used on problems like fast-turning agile and flapping wing flight. Full article