Search Results (122)

By introducing fractional exponentiation into a three-dimensional chaotic system, a jerk system with only six terms is designed. It has the property of total amplitude control, where a single non-bifurcation parameter can directly rescale all system variables without affecting the dynamics. It also features two-dimensional offset boosting, where a single parameter can realize direct offset boosting while another provides interlocked cross-dimensional offset boosting. Furthermore, this jerk system has a parameter-dominated symmetric attractor, which means that symmetric attractors appear successively as the parameter changes from positive to negative. Circuit experiments confirm the feasibility of analog fractional exponentiation using the 444 circuit and the complete control, including amplitude control and offset boosting, of the resulting system. The proposed circuit may facilitate applications of chaotic signal generators where signal versatility is important and exemplifies the generative potential of analog fractional exponentiation. Full article

Purpose: This study examined the acute performance-enhancing effects and endocrinological responses of a supramaximal clean pull performed at 120% of clean and jerk, one repetition maximum, on clean performance. Methods: Eight (n = 8) ranked collegiate level weightlifters attended two days of testing in a randomised order. A control session was used to identify a baseline measure of kinetic and kinematic clean performance and endocrinological status following three cleans interspersed with one-minute recovery between repetitions. The experimental condition required participants to perform a single clean pull at 120% of clean and jerk, one repetition maximum, followed by three minutes recovery, prior to executing three cleans with one-minute recovery between repetitions. All cleans were performed on a dual force plate set up, synchronised with a 3D motion capture system to simultaneously record barbell and ground reaction force data. All endocrinological data were measured prior to the participant warming up and also following each testing protocol. Results: The results indicated that no significant differences were found between the control and PAP condition (p = 0.140–0.902); however, effect sizes from group analysis identified moderately negative to trivial effects across kinetic, kinematic and endocrinological variables (d = −0.30–0.14). Further analysis on an individual level demonstrated values, both negative and positive, ranging from extremely large (d = −4.10) to trivial (d = 0.04). Conclusions: The findings suggest a potentially negative affect of PAP on kinetic and kinematic measures of clean performance. However, individual responses varied, and thus some weightlifters may find this useful. Full article

To solve the nonlinear vibration problems of second- and third-order nonlinear oscillators, a modified harmonic balance method (HBM) is developed in this paper. In the linearized technique, we decompose the nonlinear terms of the governing equation on two sides via a constant weight factor; then, they are linearized with respect to a fundamental periodic function satisfying the specified initial conditions. The periodicity of nonlinear oscillation is reflected in the Mathieu-type ordinary differential equation (ODE) with periodic forcing terms appeared on the right-hand side. In each iteration of the linearized harmonic balance method (LHBM), we simply solve a small-size linear system to determine the Fourier coefficients and the vibration frequency. Because the algebraic manipulations required for the LHBM are quite saving, it converges fast with a few iterations. For the Duffing oscillator, a frequency–amplitude formula is derived in closed form, which improves the accuracy of frequency by about three orders compared to that obtained by the Hamiltonian-based frequency–amplitude formula. To reduce the computational cost of analytically solving the third-order nonlinear jerk equations, the LHBM invoking a linearization technique results in the Mathieu-type ODE again, of which the harmonic balance equations are easily deduced and solved. The LHBM can achieve quite accurate periodic solutions, whose accuracy is assessed by using the fourth-order Runge–Kutta numerical integration method. The optimal value of weight factor is chosen such that the absolute error of the periodic solution is minimized. Full article

Single lane changing is one of the typical scenarios in vehicle driving. Planning a suitable single lane changing trajectory and tracking that trajectory accurately is very important for intelligent vehicles. The contribution of this study is twofold: (i) to plan lane change trajectories that cater to different driving styles (including aspects such as safety, efficiency, comfort, and balanced performance) by a 7th-degree polynomial; and (ii) to track the predefined trajectory by model predictive control (MPC) through four-wheel steering. The growing complexity of autonomous driving systems requires precise and comfortable trajectory planning and tracking. While 5th-degree polynomials are commonly used for single-lane change maneuvers, they may fail to adequately address lateral jerk, resulting in less comfortable trajectories. The main challenges are: (i) trajectory planning and (ii) trajectory tracking. Front-wheel steering MPC, although widely used, struggles to accurately track trajectories from point mass models, especially when considering vehicle dynamics, leading to excessive lateral jerk. To address these issues, we propose a novel approach combining: (i) 7th-degree polynomial trajectory planning, which provides better control over lateral jerk for smoother and more comfortable maneuvers, and (ii) four-wheel steering MPC, which offers superior maneuverability and control compared to front-wheel steering, allowing for more precise trajectory tracking. Extensive MATLAB/Simulink simulations demonstrate the effectiveness of our approach, showing improved comfort and tracking performance. Key findings include: (i) improved trajectory tracking: Four-wheel steering MPC outperforms front-wheel steering in accurately following desired trajectories, especially when considering vehicle dynamics. (ii) better ride comfort: 7th-degree polynomial trajectories, with improved control over lateral jerk, result in a smoother driving experience. Combining these two techniques enables safer, more efficient, and more comfortable autonomous driving. Full article

This research presents the design of a brake fluid pressure warning and control system for autonomous vehicles (AVs) used on university campuses to control brake fluid pressure and measure the proximity of objects or obstacles in front of the vehicles using LiDAR. The goal was to reduce the jerking of the vehicle caused by the conventional braking system, which may cause danger to the user. We initially changed the existing brake system, which uses human braking force, to electric motor braking and tested it in a closed area (a test track) before actual use. This research was divided into two parts: Part 1—using LiDAR to create warnings in case there are obstacles in front of the vehicle and Part 2—controlling brake fluid pressure using a linear motor and a PD controller. Under the test conditions employed, at a speed of 20 km/h, the total load of passengers is 600 kg. The design results regarding the PD controller with the most suitable values of the system that prevent the vehicle from jerking are K_D = 27.9606 and K_P = 32.0490. The test was conducted while an object crossed the vehicle’s path at distances of 5, 10, 15, and 20 m, respectively. It was found that controlling brake fluid pressure by measuring the distance from the object helped reduce the braking time and jerking of the vehicle and could stop the vehicle before experiencing a collision. At a distance of 20 m, the vehicle could be stopped before the crash and was 3.7 m away from the object; at a distance of 15 m, the distance from the object was 3.1 m; and at a distance of 10 m, the distance from the object was 3 m. However, at a distance of 5 m, the brake system could not stop the vehicle, causing collision with the object because the distance from the object for braking was less than the designed distance. This shows that the warning system and the brake fluid pressure control system can operate in accordance with the corresponding conditions correctly, smoothly, and quickly within the specified distance and be applied to other types of vehicles. Full article

The control of the vehicle transmission system is of great significance to driving comfort. In order to design a controller for smooth shifting and comfortable driving, a dynamic model of dual-clutch transmission is established in this paper. An optimal control strategy for clutch oil pressure based on linear quadratics is proposed, which is used to optimally control the oil pressure of two clutches in the torque stage and inertia stage. The control strategy selects the slipping work and jerk as evaluation indices of shift quality and establishes an optimization objective function. On the premise of optimizing the input torque, the relative speed difference between the engine and the sliding clutch in the inertia stage is adjusted. Through the optimal trajectory control of the wet clutch oil pressure, slipping work and jerk are reduced, thereby improving driving comfort. The simulation results show that the slipping work and jerk generated by the system during the shift stage are reduced, and the shift quality is improved. Additionally, compared with the controller using the MATLAB particle swarm optimization algorithm, the response speed of the proposed controller is faster, the slipping work and jerk are better reduced, and the shift quality is improved. Full article

In rehabilitation, physicians plan lower-limb exercises via linear guidance. Ensuring efficacy and safety, they design patient-specific paths, carefully plotting smooth trajectories to minimize jerks. Replicating their precision in robotics is a major challenge. This study introduces a linear rehabilitation motion planning method designed for physicians to use a multi-posture lower-limb rehabilitation robot, encompassing both path and trajectory planning. By subdividing the lower limb’s action space into four distinct training sections and classifying this space, we articulate the correlation between linear trajectories and key joint rehabilitation metrics. Building upon this foundation, a rehabilitative path generation system is developed, anchored in joint rehabilitation indicators. Subsequently, high-order polynomial curves are employed to mimic the smooth continuity of traditional rehabilitation trajectories and joint motions. Furthermore, trajectory planning is refined through the resolution of a constrained quadratic optimization problem, aiming to minimize the abrupt jerks in the trajectory. The optimized trajectories derived from our experiments are compared with randomly generated trajectories, demonstrating the suitability of trajectory optimization for real-time rehabilitation trajectory planning. Additionally, we compare trajectories generated based on the two groups of joint rehabilitation indicators, indicating that the proposed path generation system effectively assists clinicians in executing efficient and precise robot-assisted rehabilitation path planning. Full article

The phenomenon of stepwise landslides, characterized by displacement exhibiting a step-like pattern, is often influenced by reservoir operations and seasonal rainfall. Traditional early warning models face challenges in accurately predicting the sudden initiation and cessation of displacement, primarily because conventional indicators such as rate or acceleration are ineffective in these scenarios. This underscores the urgent need for innovative early warning models and indicators. Viewing step-like displacement through the lens of three phases—stop, start, and acceleration—aligns with the green-yellow-red warning paradigm of the Traffic Light System (TLS). This study introduces a novel early warning model based on the TLS, incorporating jerk, the derivative of displacement acceleration, as a critical indicator. Empirical data and theoretical analysis validate jerk’s significance, demonstrating its clear pattern before and after step-like deformations and its temporal alignment with the deformation’s conclusion. A comprehensive threshold network encompassing rate, acceleration, and jerk is established for the TLS. The model’s application to the Shuiwenzhan landslide case illustrates its capability to signal in a timely manner the onset and acceleration of step-like deformations with yellow and red lights, respectively. It also uniquely determines the deformation’s end through jerk differential analysis, which is a feat seldom achieved by previous models. Furthermore, leveraging the C5.0 machine learning algorithm, a comparison between the predictive capabilities of the TLS model and a pure rate threshold model reveals that the TLS model achieves a 93% accuracy rate, outperforming the latter by 7 percentage points. Additionally, in response to the shortcomings of existing warning and emergency response strategies for this landslide, a closed-loop management framework is proposed, grounded in the TLS. This framework encompasses four critical stages: hazard monitoring, warning issuance, emergency response, and post-event analysis. We also suggest support measures to ensure implementation of the framework. Full article

To improve the safety and reliability of robotic manipulators during high-speed precision movements, this paper proposes a method for smooth and time-optimal trajectory planning incorporating kinodynamic constraints. The primary objective is to use an evolutionary algorithm to determine a trajectory by considering time and jerk within the feasible path-pseudo-velocity phase plane region. Firstly, the path parameterization theory extracted the maximum pseudo-velocity projection curve from the kinodynamic constraints. Subsequently, the feasible region in the phase plane was defined through reachability analysis of discrete linear systems. Thereafter, we constructed the trajectory function using a cubic B-spline curve, optimizing its control points with an improved carnivorous plant optimization algorithm. Finally, the effectiveness and practicality of this method were verified through simulations on a 6-DOF manipulator. Full article

To enhance the safety of lane changes for connected autonomous vehicles in an intelligent transportation environment, this study draws from potential field theory to analyze variations in the risks that vehicles face under different traffic conditions. The safe minimum vehicle distance is dynamically adjusted, and a comprehensive vehicle risk potential field model is developed. This model systematically quantifies the risks encountered by connected autonomous vehicles during the driving process, providing a more accurate assessment of safety conditions. Subsequently, vehicle motion is decoupled into lateral and longitudinal components within the Frenet coordinate system, with quintic polynomials employed to generate clusters of potential trajectories. To improve computational efficiency, trajectory evaluation metrics are developed based on vehicle dynamics, incorporating factors such as acceleration, jerk, and curvature. An initial filtering process is applied to these trajectories, yielding a refined set of candidates. These candidate trajectories are further assessed using a minimum safety distance model derived from potential field theory, with optimization focusing on safety, comfort, and efficiency. The algorithm is tested in a three-lane curved simulation environment that includes both constant-speed and variable-speed lane change scenarios. Results show that the collision risk between the target vehicle and surrounding vehicles remains below the minimum safety distance threshold throughout the lane change process, ensuring a high level of safety. Furthermore, across various driving conditions, the target vehicle’s acceleration, jerk, and trajectory curvature remained well within acceptable limits, demonstrating that the proposed lane change trajectory planning algorithm successfully balances safety, comfort, and smoothness, even in complex traffic environments. Full article

Fused deposition modeling (FDM), a method of additive manufacturing (AM), comprises the extrusion of materials via a nozzle and the subsequent combining of the layers to create 3D-printed objects. FDM is a widely used method for 3D-printing objects since it is affordable, effective, and easy to use. Some defects such as poor infill, elephant foot, layer shift, and poor surface finish arise in the FDM components at the printing stage due to variations in printing parameters such as printing speed, change in nozzle, or bed temperature. Proper fault classification is required to identify the cause of faulty products. In this work, the multi-sensory data are gathered using different sensors such as vibration, current, temperature, and sound sensors. The data acquisition is performed by using the National Instrumentation (NI) Data Acquisition System (DAQ) which provides the synchronous multi-sensory data for the model training. To induce the faults, the data are captured under different conditions such as variations in printing speed, temperate, and jerk during the printing. The collected data are used to train the machine learning (ML) and deep learning (DL) classification models to classify the variation in printing parameters. The ML models such as k-nearest neighbor (KNN), decision tree (DT), extra trees (ET), and random forest (RF) with convolutional neural network (CNN) as a DL model are used to classify the variable operation printing parameters. Out of the available models, in ML models, the RF classifier shows a classification accuracy of around 91% whereas, in the DL model, the CNN model shows good classification performance with accuracy ranging from 92 to 94% under variable operating conditions. Full article

This study aimed to discuss the differences in technical characteristics between the lunge-style and squat-style jerk techniques and to reveal the adaptability of these techniques for individual weightlifters. A total of 52 attempts by 32 male weightlifters were selected, and the video data were digitized manually using the SIMI Motion 7.50 three-dimensional analysis system. The technical characteristics of the lunge split and squat jerk were fundamentally consistent during the pre-squat, force exertion, and inertia ascent phases. The primary differences between the lunge split and squat jerk techniques were observed during the squatting and support phases, including the vertical descent velocity of the barbell at the end of the squat shoulder-locking phase and the stability angles in the sagittal and coronal axes. The vertical velocity of the barbell at the end of the squat shoulder-locking phase was significantly greater in the squat style (−0.41 ± 0.17 vs. −0.88 ± 0.14) compared to the lunge style (t = 6.393, p < 0.05). The stability angle on the sagittal axis at the end of the squat-supporting phase in the lunge style was significantly greater (46.99 ± 3.23 vs. 13.64 ± 0.51) than that of the squat style (t = 45.639, p < 0.05). Full article

This study aims to develop a new methodology for assessing postural transitions, such as sit-to-stand movements, and to preliminarily apply it in a clinical setting. These movements provide valuable information about the state of movement effector system components, whether musculoskeletal, nervous, or cognitive, and their evaluation is a key point in the functional assessment in the clinical setting of patients with complex rehabilitative needs. The objective of this study was developed by pursuing three goals: verifying the ability to discriminate between healthy and pathological subjects, defining a set of parameters for movement assessment, and thus designing a preliminary evaluation paradigm for future clinical applications. We investigated the signals from a single IMU sensor applied to subjects (20 healthy and 13 patients) performing five different postural transitions. A set of six kinematic variables that allowed a quantitative assessment of motion was identified, namely total time, smoothness, fluency, velocity, jerk root mean square, and maximum jerk variation. At the end of the study, the adopted methodology and set of parameters were shown to be able to quantitatively assess postural transitions in a clinical context and to be able to distinguish healthy subjects from pathological subjects. This, together with future studies, will provide researchers and clinicians with a valuable resource for evaluating the results of a rehabilitation program, as well as for keeping track of patients’ functional status in follow-up evaluations. Full article

In this paper, we propose a novel equivalent composite control architecture for electro-optical equipment. The improved tracking performance and loss of robustness caused by this structure have a clear relationship with $a_2$, the time coefficient of the compensation circuit. The compensation circuit can make the speed quality factor and the acceleration quality factor of the system infinite, and the jerk quality factor can be expanded to $1/a_2$ times the original acceleration quality factor, but it will cause a main zero point of the servo system to be far away from the virtual axis and the main poles to be close to the virtual axis. As the time coefficient of the compensation loop controller decreases, the tracking performance of the system increases, but the robustness decreases, the dynamic response deteriorates, the water bed effect becomes more obvious, and the system is more susceptible to noise and disturbances. Compared to the existing method, our method focuses on system performance and robustness. Experimental results show that our method can achieve target tracking with a peak accuracy of 64$″$ and 22$″$ (RMS), which is superior to the tracking performance without equivalent composite control. Full article

High-density 3D warehousing is the future cornerstone of modern logistics storage. It aims to efficiently manage and store various types of goods by utilizing 3D space and automation technology. The accurate and fast docking algorithm of the four-way shuttles, as a core method of carrying the goods in high-density 3D warehousing, has become an increasingly important technical challenge. Inaccurate docking will result in a failure to change direction, while long docking time will affect the operation efficiency of the four-way shuttle. To overcome these obstacles, this paper presents an accurate and rapid docking algorithm for four-way shuttles. Firstly, the deceleration and jerk of a four-way shuttle in the braking stage are initialized according to the motion parameter set calculated by the docking motion model. Then, the four-way shuttle starts to move until the stop signal has been detected. If the system fails to detect the stop signal, the distance compensation is needed to ensure that the four-way shuttle can arrive at the stop point. Finally, the four-way shuttle stops immediately by way of amplifying the deceleration when reaching the stop point. The result shows that the accuracy of rapid docking is superior to that of direct docking. Compared with crawling docking, rapid docking reduces the braking time by 3.99s and stops at a speed lower than the crawling speed. The rapid docking algorithm not only enhances the throughput of high-density 3D warehousing but also improves the service life of four-way shuttles. Full article