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

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

A Method for Structural Design of Magnetically Levitated Planar Motor Based on Minimization of Mean Square Error of Spatial Magnetic Flux Density 基于空间磁通密度均方误差最小化的平面磁悬浮电机结构设计方法

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.2026.3665307

Xuyang Yu;Chunguang Fan;Bo Zhao;Jiubin Tan

{"title":"A Method for Structural Design of Magnetically Levitated Planar Motor Based on Minimization of Mean Square Error of Spatial Magnetic Flux Density","authors":"Xuyang Yu;Chunguang Fan;Bo Zhao;Jiubin Tan","doi":"10.1109/TMECH.2026.3665307","DOIUrl":"10.1109/TMECH.2026.3665307","url":null,"abstract":"The pursuit of extreme acceleration in next-generation mechatronic systems necessitates a design paradigm shift for actuators like magnetically levitated planar motors (MLPMs). Conventional design methods, which optimize the electromagnetic plant in isolation, often result in motors whose theoretical performance cannot be achieved due to limitations of the drive electronics. This article introduces an MLPM-oriented mechatronic co-design framework, termed square error minimization-multiple parameter normalization (SSM-MPN), that fundamentally links the motor's physical structure to its final system-level performance. The framework synergistically optimizes the relationships among the Halbach magnet array, coil geometry, and critical drive-system metrics, such as thrust density and thrust-to-weight ratio. By establishing a unified analytical model in which all vital parameters are functions of the magnet array's pole pitch, the SSM-MPN method facilitates holistic, multiobjective optimization. To validate this framework, a complete prototype system was built, featuring the SSM-MPN-optimized motor plant, custom high-current-density flat-wire coils, and high-performance linear amplifiers. The prototype successfully achieved a peak acceleration of 50 m/s<inline-formula><tex-math>$^{2}$</tex-math></inline-formula> with a 5 kg payload, rigorously validating that our co-design approach creates a superior physical plant capable of fully leveraging the power of advanced drive systems.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5976-5987"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147361017","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

An Impact Mitigation Strategy in Hammering Tasks for Aerial Manipulator: Analyses and Experiments 航空机械臂锤击任务的冲击缓解策略：分析与实验

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-03-05 DOI: 10.1109/TMECH.2026.3657372

Kexin Cai;Zhaopeng Zhang;Hai Yu;Zhichao Yang;Yongchun Fang;Jianda Han;Xiao Liang

{"title":"An Impact Mitigation Strategy in Hammering Tasks for Aerial Manipulator: Analyses and Experiments","authors":"Kexin Cai;Zhaopeng Zhang;Hai Yu;Zhichao Yang;Yongchun Fang;Jianda Han;Xiao Liang","doi":"10.1109/TMECH.2026.3657372","DOIUrl":"10.1109/TMECH.2026.3657372","url":null,"abstract":"The unmanned aerial manipulator (UAM) system, with its ability to actively interact with the environment, has significant potential for applications in infrastructure inspection and disaster relief. However, the majority of current research focuses on interactive scenarios near the system’s equilibrium point or at low speeds, limiting the utilization of the aerial vehicle’s maneuverability advantages. In addition, the unique physical characteristics of hammering tasks present challenges to both the safety and effectiveness of aerial operations. To address the aforementioned problem, this article proposes an impact mitigation strategy for aerial manipulator hammering tasks, aiming to ensure the safety of the UAM system while achieving effective hammering operation. Specifically, this strategy divides the UAM hammering task into hover, dive, and hammer phases. During the dive phase, the aerial vehicle’s maneuverability is exploited for accelerated descent, while the manipulator adjusts the end effector’s attitude to suit the hammering scenario requirements. The planning method within the strategy considers the desired velocity and attitude of the end effector at the moment of hammering, generating smooth trajectories for the aerial vehicle and manipulator. Furthermore, a manipulator controller with active/passive work modes is designed to mitigate collision impulses without the need for any specialized devices. During the hammering phase, external and internal impulse modeling and analysis are conducted, resulting in a theoretical assurance of the maximum pre-hammering end effector velocity for system safety. Multiple sets of experimental data demonstrate that the proposed strategy performs well in hammering tasks on surfaces with inclinations and materials of different hardness, effectively achieving hammering with the UAM.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5734-5744"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147371319","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

An Overview on Safety-Critical Control Under Disturbances: A Control Barrier Function Approach 扰动下的安全临界控制综述：一种控制屏障函数方法

IF 6.3 1区工程技术

IEEE/ASME Transactions on Mechatronics Pub Date : 2026-10-01 Epub Date: 2026-03-18 DOI: 10.1109/TMECH.2026.3666590

Jun Yang;Xinming Wang;Xiang Yu;Shihua Li;Lei Guo

{"title":"An Overview on Safety-Critical Control Under Disturbances: A Control Barrier Function Approach","authors":"Jun Yang;Xinming Wang;Xiang Yu;Shihua Li;Lei Guo","doi":"10.1109/TMECH.2026.3666590","DOIUrl":"10.1109/TMECH.2026.3666590","url":null,"abstract":"Safety-critical control systems, such as autonomous vehicles and robotics, must operate reliably in complex, dynamic environments where ensuring both stability and strict adherence to safety constraints is essential. Here, <italic>safety</i> refers to maintaining state forward invariance within a desired safe set. The control barrier function (CBF)-based safety-critical control (CBF-SC) has emerged as a promising framework, enabling control systems to maintain states within specified forward invariant sets. However, real-world applications often encounter undesirable disturbances and uncertainties, complicating the implementation of CBF and potentially compromising safety guarantees. This article provides a comprehensive survey of recent advances in CBF-based safety-critical control, with a particular focus on handling disturbances and uncertainties. The article begins with an exploration of the foundational principles of the control Lyapunov function and CBF, then reviews and compares strategies to improve robustness in CBF-SC systems, drawing on robust control, adaptive control, and disturbance/uncertainty estimation and attenuation. The comparison between CBF-SC and other related methods is also explored. Advanced mechatronic applications are also reviewed, showcasing how CBFs are implemented in autonomous vehicles, robotics, industrial automation systems, and energy platforms. Finally, future research directions are provided in the area to trigger further discussion and investigation.","PeriodicalId":13372,"journal":{"name":"IEEE/ASME Transactions on Mechatronics","volume":"31 5","pages":"5825-5841"},"PeriodicalIF":6.3,"publicationDate":"2026-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147489394","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