IEEE/ASME Transactions on Mechatronics最新文献_第10页

Optimization of an Axial Flux Motor-Cycloid Gear Actuator for Sizing Wearable Robots 可穿戴机器人轴向磁链电机-摆线齿轮作动器的优化设计

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-26 DOI: 10.1109/TMECH.2026.3662305

Myles Cooper;Santiago Canete;Digby Chappell;Conor Walsh

{"title":"Optimization of an Axial Flux Motor-Cycloid Gear Actuator for Sizing Wearable Robots","authors":"Myles Cooper;Santiago Canete;Digby Chappell;Conor Walsh","doi":"10.1109/TMECH.2026.3662305","DOIUrl":"10.1109/TMECH.2026.3662305","url":null,"abstract":"Actuators for wearable robots are difficult to design due to the competing requirements of minimizing weight and form factor while achieving desired performance requirements. Current solutions often rely on a “one-size-fits-all” approach utilizing classical motors and gears. Here, we present a thin, high torque density wearable actuator consisting of a cycloid gear and PCB axial flux motor, along with a modeling and design optimization framework to minimize actuator and battery mass while maintaining target performance. The model predicts motor mass with 95.9% accuracy and battery power with 75.9-87.9% accuracy. We then apply this design and optimization framework to quantify the benefits of creating optimized sizes of wearable actuators for gait assistance for stroke survivors, which was found to reduce average actuator and battery mass by 384 g with just 5 sizes. Furthermore, sizing the actuator and battery together resulted in an average of 28.9% to 48.3% more weight savings than sizing only the motor or only the battery, respectively, for individually optimized actuators. This paradigm of sizing actuators like clothing, along with new actuator architectures, may yield weight savings that could improve adoption of daily-wear assistive devices.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5536-5547"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147319450","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Gradient Direction Consistency-Based Redundancy Optimization for Smooth Joint Paths Generation of Industrial Robots 基于梯度方向一致性的工业机器人光滑关节路径冗余优化

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-19 DOI: 10.1109/TMECH.2026.3659351

Mansen Chen;Yuwen Sun;Shanglei Jiang;Jinting Xu;Chengxiang Lu;Qiang Guo;Jun Liu

{"title":"Gradient Direction Consistency-Based Redundancy Optimization for Smooth Joint Paths Generation of Industrial Robots","authors":"Mansen Chen;Yuwen Sun;Shanglei Jiang;Jinting Xu;Chengxiang Lu;Qiang Guo;Jun Liu","doi":"10.1109/TMECH.2026.3659351","DOIUrl":"10.1109/TMECH.2026.3659351","url":null,"abstract":"The discontinuity of geometric paths is a primary obstacle to high performance robotic milling, because it can easily cause abrupt changes in velocity, acceleration, and cutting load, which is adverse to milling stability and accuracy. To address this challenge, this article provides a novel approach to generating smooth joint paths for industrial robots through redundancy optimization. Specifically, a new smoothness metric based on a gradient direction consistency principle is introduced at first. Subsequently, a simple yet effective redundancy optimization model is built by incorporating the joint space limitation, singularity avoidance and stiffness constraints. This transforms the complex smooth joint paths generation problem into a manageable binary classification task. In addition, by combining the Taylor series expansion, a generalized solution algorithm based on sequential quadratic programming is also proposed to solve the problem. Comparative experiments are conducted to validate the proposed method. The experimental results demonstrate that, in comparison to other representative approaches, this method achieves a significant improvement in the smoothness of joint paths, with an 88% reduction in the metric, but also enhances machining accuracy, as evidenced by a 23% contour error reduction.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5388-5399"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146230846","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Pseudorange-Based GNSS Attack Detection for Uncrewed Aerial Vehicles Using a Single Antenna 基于伪橙的单天线无人机GNSS攻击检测

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-01-23 DOI: 10.1109/TMECH.2026.3651523

Junhong Wang;Qianyuan Liu;Dong Zhao;Wenshuo Li;Jianchun Zhang;Xiang Yu;Lei Guo

{"title":"Pseudorange-Based GNSS Attack Detection for Uncrewed Aerial Vehicles Using a Single Antenna","authors":"Junhong Wang;Qianyuan Liu;Dong Zhao;Wenshuo Li;Jianchun Zhang;Xiang Yu;Lei Guo","doi":"10.1109/TMECH.2026.3651523","DOIUrl":"10.1109/TMECH.2026.3651523","url":null,"abstract":"This article presents a pseudorange-based global navigation satellite system (GNSS) spoofing attack detection scheme for UAVs. The approach begins by developing a measurement-oriented model that accounts for relay-based spoofing attacks and the effects of multipath. The detection scheme ingeniously incorporates the signal spatial correlation with antenna motion. Inspired by the theory of composite disturbance filtering, this article employs a disturbance observer-based augmented state Kalman filter and a least mean squares filter to address distinct disturbances in attack detection. Specially, the least mean squares filter mitigates multipath effects caused by antenna motion in the pseudorange observations. Then, a generalized likelihood ratio test integrates both pseudorange observations and predictions of a moving antenna to enable robust detection. Monte Carlo simulations are conducted to analyze the effectiveness of the proposed method with different levels of disturbances. In addition, the performance of the proposed method is evaluated through experiments in comparison to existing approaches under various quadcopter movement states. The results demonstrate that the proposed method effectively detects GNSS spoofing attacks and exhibits better robustness.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5125-5136"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146042542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Image-Based Iterative Active Error Compensation for Polygon Mirror-Based Scanning Systems 基于图像的多边形镜扫描系统迭代主动误差补偿

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-01-26 DOI: 10.1109/TMECH.2026.3651912

Bo Cong;Han Woong Yoo;Georg Schitter

{"title":"Image-Based Iterative Active Error Compensation for Polygon Mirror-Based Scanning Systems","authors":"Bo Cong;Han Woong Yoo;Georg Schitter","doi":"10.1109/TMECH.2026.3651912","DOIUrl":"10.1109/TMECH.2026.3651912","url":null,"abstract":"This article deals with the correction of cross-scan errors in polygon mirror (PM)-based laser scanning systems by active error compensation (AEC) using a fast-steering mirror (FSM). However, AEC is susceptible to sensor noncollocation errors since the FSM is typically controlled via an internal angular sensor. This sensor error can be evaluated by position measurements of the scanning laser, but these measurements are not always feasible due to the inherent duty cycle of PM-based scanning systems. Image-based iterative AEC (II-AEC) is proposed to use partial measurements to address the sensor noncollocation error, thereby improving the precision of PM-based scanning systems. II-AEC consists of a cascade structure where the inner loop employs iterative learning control for the FSM using the internal sensor, and the outer loop iterates the inner loop reference based on the laser positions measured by a complementary metal–oxide–semiconductor (CMOS) sensor. II-AEC has been implemented and evaluated on a PM-based stereolithography apparatus, resulting in a 40-fold printing precision improvement compared to the uncompensated apparatus.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5148-5159"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146056287","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Novel Scissors Double-Pyramid Deployable Mechanism and Constructed Deployable Ring Truss for Satellite Mesh Reflector Antennas 卫星网状反射面天线新型剪刀双金字塔展开机构及构造展开环桁架

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-03-04 DOI: 10.1109/TMECH.2026.3664653

Bo Han;Jiachuan Zhang;Meng Han;Xiaoyu Hu;Jiantao Yao;Yinghao Ning

{"title":"Novel Scissors Double-Pyramid Deployable Mechanism and Constructed Deployable Ring Truss for Satellite Mesh Reflector Antennas","authors":"Bo Han;Jiachuan Zhang;Meng Han;Xiaoyu Hu;Jiantao Yao;Yinghao Ning","doi":"10.1109/TMECH.2026.3664653","DOIUrl":"10.1109/TMECH.2026.3664653","url":null,"abstract":"With the increasing demand for large deployable structures in space exploration missions, the design of deployable mechanisms has become a research hotspot in aerospace technology. This article proposes ring truss mechanisms based on novel scissors double-pyramid (SDP) deployable units. The unit innovatively integrates pyramid configuration with scissor-like mechanisms to form a modular prismatic structure featuring circumcircle characteristics. This configuration possessing a single DOF deployment characteristic is demonstrated through screw theory and symmetry principles. Three types of ring deployable mechanisms with distinct topological features were constructed through modular strategies involving shared nodes or edges. A systematic comparative analysis of their static performance was subsequently conducted using finite element analysis. Kinematic analyses were performed for both the SDP unit and its assembled ring mechanisms. The previous kinematic and dynamic analyses were validated through ADAMS software simulations and a functional prototype was produced to verify the mobility of the SDP ring deployable mechanism. This research presents a new deployable mechanism that combines geometric scalability with high stability, offering an innovative solution for constructing large-scale deployable structures.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5698-5710"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147361016","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

AI Agent-Embedded Cooperative Perception Integrating Vehicle Mobility and Infrastructure Observation for Autonomous Driving 集成车辆移动性和基础设施观察的自动驾驶AI智能体嵌入式协同感知

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-08-28 DOI: 10.1109/TMECH.2026.3721030

Zonglin Meng;Zhaoliang Zheng;Xin Xia;Lili Fan;Jiaqi Ma

{"title":"AI Agent-Embedded Cooperative Perception Integrating Vehicle Mobility and Infrastructure Observation for Autonomous Driving","authors":"Zonglin Meng;Zhaoliang Zheng;Xin Xia;Lili Fan;Jiaqi Ma","doi":"10.1109/TMECH.2026.3721030","DOIUrl":"10.1109/TMECH.2026.3721030","url":null,"abstract":"Cooperative perception in vehicle-to-everything (V2X) systems can substantially improve situational awareness by fusing observations from connected vehicles and smart infrastructure. However, existing approaches often rely on homogeneous feature sharing and incur high communication and computational cost, which limits their deployment in large-scale, bandwidth-constrained, and heterogeneous multiagent environments. To address these challenges, we propose agent-invariant multiagent perception (AI-MAP), an embedded artificial intelligence agent-based cooperative perception framework that accommodates heterogeneous perception backbones and communicates only lightweight, essential geometric information. AI-MAP introduces a backbone-agnostic sharing mechanism that transmits proposal-level bounding boxes together with sampled raw points, enabling heterogeneous agents to collaborate without feature alignment or architecture-specific adaptation. Physical experiments in real-world environments demonstrate the practical deployability of AI-MAP for multiagent cooperation. Experiments demonstrate that this framework could reduce transmitted points by 89% on V2XReal and 92% on V2X-set, while improving average precision @0.7 on V2XReal by 4.1%. These results show that AI-MAP provides an effective and scalable solution for cooperative perception in bandwidth-limited heterogeneous V2X systems.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5021-5029"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148852480","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

PickBot: A Novel Adaptive Deformable Wheel Mechanism for Obstacle Overcoming Capability PickBot：一种具有克服障碍能力的自适应变形车轮机构

IF 6.4 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 DOI: 10.1109/tmech.2026.3730709

Woojae Lee, Inhwan Kim, Taehyun Kim, JongWook Kim, Jeongeun Kim, TaeWon Seo

引用次数: 0

Generative Diffusion Model Enhanced MADRL for Distributed Flocking With Obstacle Avoidance of Fixed-Wing AAV Swarms 基于生成扩散模型的固定翼AAV群分布式避障算法

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-04 DOI: 10.1109/TMECH.2026.3652629

Chao Yan;Yuna Jiang;Mou Chen;Xiaojia Xiang;Xiangke Wang

{"title":"Generative Diffusion Model Enhanced MADRL for Distributed Flocking With Obstacle Avoidance of Fixed-Wing AAV Swarms","authors":"Chao Yan;Yuna Jiang;Mou Chen;Xiaojia Xiang;Xiangke Wang","doi":"10.1109/TMECH.2026.3652629","DOIUrl":"10.1109/TMECH.2026.3652629","url":null,"abstract":"The distributed flocking control of fixed-wing autonomous aerial vehicle (AAV) swarms in unknown and cluttered environments poses significant challenges due to their complex dynamics and nonholonomic constraints. While multiagent deep reinforcement learning (MADRL) has shown success in coordinating AAVs, existing approaches often struggle to capture the multimodal action distributions essential for robust obstacle avoidance under uncertainty. In this article, we propose a novel generative diffusion model enhanced MADRL approach for distributed flocking control and obstacle avoidance in fixed-wing AAV swarms. Specifically, we design a diffusion-based policy network, where individual observations are processed via a graph attention network and used as conditions for generating optimal actions in the reverse denoising process. To update the diffusion policy, a graph attention network is also incorporated into the value network to effectively extract relevant information from all agents, thereby improving the accuracy of the Q-value estimation. The results of numerical simulations and hardware-in-the-loop experiments demonstrate that our approach significantly outperforms existing baselines in terms of flocking stability and collision rate, highlighting the potential of diffusion models for scalable and robust AAV flocking control.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5198-5209"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146116265","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Toward a Miniaturized Hybrid-Driven Swimming Robot for Water–Air Cross-Domain Locomotion 小型混合动力水气跨域运动游泳机器人研究

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-18 DOI: 10.1109/TMECH.2026.3659884

Zhanhua Xin;Kaiwei Zhu;Di Chen;Ru Tong;Shihan Kong;Shengkai Pan;Junzhi Yu

{"title":"Toward a Miniaturized Hybrid-Driven Swimming Robot for Water–Air Cross-Domain Locomotion","authors":"Zhanhua Xin;Kaiwei Zhu;Di Chen;Ru Tong;Shihan Kong;Shengkai Pan;Junzhi Yu","doi":"10.1109/TMECH.2026.3659884","DOIUrl":"10.1109/TMECH.2026.3659884","url":null,"abstract":"The flyingfish has long inspired the design of bioinspired robots capable of traversing both aquatic and aerial environments. This study introduces an untethered, miniaturized hybrid-driven robotic platform designed for multimodal motion across aquatic and aerial environments. Compared to previous designs, the proposed robot features a substantially reduced form factor while employing a synergistic propulsion strategy—combining high-frequency fish-like undulation with propeller-based thrust—to enable agile maneuvering on the water surface, underwater, and during aerial phases. Experimental results demonstrate that the swimming robot can attain a peak speed of 6.88 body lengths per second on the surface, which significantly outperforms single-mode counterparts while maintaining robust attitude control during rapid transitions. To enable high-speed pitch regulation and seamless water-to-air transitions, we derive a comprehensive dynamic model and develop a reverse-dynamics-based sliding-mode control scheme, integrated with <inline-formula><tex-math>$z$</tex-math></inline-formula>–<inline-formula><tex-math>$theta$</tex-math></inline-formula> plane line-of-sight guidance and a state observer. The robot's full cross-domain mobility is experimentally verified, including the complete transition sequence from submerged standby to attitude adjustment and aerial acceleration. In a safe indoor laboratory environment, the highest recorded aerial flying height exceeds approximately 5.5 times the body length. This work provides critical insights into the design and control paradigms for next-generation miniaturized aquatic robots, highlighting the promise of bioinspired hybrid propulsion and adaptive control strategies for cross-domain applications.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5365-5376"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"146231147","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Four-in-Three-Out Coupling Serial Spherical Photoelectric Stabilization Platform and Its Adaptive Antidisturbance Control 四合三出耦合串行球面光电稳定平台及其自适应抗干扰控制

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-02-27 DOI: 10.1109/TMECH.2026.3663903

Dapeng Tian;Bowen Chen;Wen Wang;Zhishu Wang;Zhongshi Wang

引用次数: 0