IF 2.2 3区工程技术

Actuators Pub Date : 2024-08-09 DOI: 10.3390/act13080305

Kui Fu, X. Dang, Qingyu Zhang, Jiansheng Peng

{"title":"Fast UOIS: Unseen Object Instance Segmentation with Adaptive Clustering for Industrial Robotic Grasping","authors":"Kui Fu, X. Dang, Qingyu Zhang, Jiansheng Peng","doi":"10.3390/act13080305","DOIUrl":"https://doi.org/10.3390/act13080305","url":null,"abstract":"Segmenting unseen object instances in unstructured environments is an important skill for robots to perform grasping-related tasks, where the trade-off between efficiency and accuracy is an urgent challenge to be solved. In this work, we propose a fast unseen object instance segmentation (Fast UOIS) method that utilizes predicted center offsets of objects to compute the positions of local maxima and minima, which are then used for selecting initial seed points required by the mean-shift clustering algorithm. This clustering algorithm that adaptively generates seed points can quickly and accurately obtain instance masks of unseen objects. Accordingly, Fast UOIS first generates pixel-wise predictions of object classes and center offsets from synthetic depth images. Then, these predictions are used by the clustering algorithm to calculate initial seed points and to find possible object instances. Finally, the depth information corresponding to the filtered instance masks is fed into the grasp generation network to generate grasp poses. Benchmark experiments show that our method can be well transferred to the real world and can quickly generate sharp and accurate instance masks. Furthermore, we demonstrate that our method is capable of segmenting instance masks of unseen objects for robotic grasping.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141921333","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Global Stabilization of Control Systems with Input Saturation and Multiple Input Delays 具有输入饱和及多重输入延迟的控制系统的全局稳定性

IF 2.2 3区工程技术

Actuators Pub Date : 2024-08-09 DOI: 10.3390/act13080306

Jiawei Wu, Bing Li, Jiashuai Li, Mingze Li, Binyu Yang

{"title":"Global Stabilization of Control Systems with Input Saturation and Multiple Input Delays","authors":"Jiawei Wu, Bing Li, Jiashuai Li, Mingze Li, Binyu Yang","doi":"10.3390/act13080306","DOIUrl":"https://doi.org/10.3390/act13080306","url":null,"abstract":"In this paper, the global stabilization problem of control systems with input saturation and multiple input delays is studied, and a new method is proposed to design nonlinear stabilization control laws. First, based on Luenberger’s canonical decomposition, the multiple-input delay system is transformed into a series of linear time-delay systems with single inputs and input saturation. However, for the converted system, each subsystem is coupled to the others. Therefore, the idea of recursion is adopted to construct a special state transformation with time delay for each subsystem and convert it into a linear system with time delay for both state variables and input variables. For the conversion system, a nonlinear controller with cascade saturation control is designed, and the controller includes some free parameters. The control performance of the controller is improved by adjusting the free parameters online. At the same time, a less conservative stability condition is established to ensure the dynamic performance of the closed-loop system. Finally, the effectiveness and superiority of the proposed method are verified by numerical simulation and practical applications in a spacecraft rendezvous system.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141923569","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 Robust Hꝏ-Based State Feedback Control of Permanent Magnet Synchronous Motor Drives Using Adaptive Fuzzy Sliding Mode Observers 利用自适应模糊滑模观测器实现基于 Hꝏ 的永磁同步电机驱动器鲁棒状态反馈控制

IF 2.2 3区工程技术

Actuators Pub Date : 2024-08-09 DOI: 10.3390/act13080307

Hamed Tahami, Sajad Saberi, B. M. Ali, Sabah AbdulAmeer, Abbas Hameed Abdul Hussein, Hicham Chaoui

{"title":"A Robust Hꝏ-Based State Feedback Control of Permanent Magnet Synchronous Motor Drives Using Adaptive Fuzzy Sliding Mode Observers","authors":"Hamed Tahami, Sajad Saberi, B. M. Ali, Sabah AbdulAmeer, Abbas Hameed Abdul Hussein, Hicham Chaoui","doi":"10.3390/act13080307","DOIUrl":"https://doi.org/10.3390/act13080307","url":null,"abstract":"In several applications, the accuracy and robust performance of the control method for the speed of permanent magnet synchronous motors (PMSMs) is critical. Model uncertainties, caused by inaccurate model identification, decrease the accuracy of PMSM control. To solve this problem, this paper presents a super robust control structure for the speed control of PMSMs. In the proposed method, the model uncertainties with Lipschitz condition together with disturbances are considered during the PMSM modeling, and their effects are handled using a robust state feedback control. To be more specific, the Lyapunov stability proof is performed in such a way that the model uncertainty effects are eliminated. Before that, the Lyapunov stability criteria have been selected in such a way that the Hꝏ conditions are considered and guaranteed. This issue helps to eliminate the effects of the disturbances. In addition, this paper considers another option to make the whole control structure robust against sudden load changes. To solve this problem, a fuzzy adaptive sliding mode observer (FASMO) is presented to determine the load torque and use it in the control signal generation. In this observer, the switched gain of the sliding mode observer (SMO) is adapted using a fuzzy system to eliminate the chattering phenomena and increase the estimation accuracy. In fact, the proposed method is called super robust because it resists model uncertainties, disturbances, and sudden load changes during three stages by robust state feedback control, Hꝏ criterion, and load estimator, respectively. The performance of the proposed approach is validated through a set of laboratory tests, and its superiority is shown compared to other methods.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141923495","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 New Variable-Stiffness Body Weight Support System Driven by Two Active Closed-Loop Controlled Drives 由两个主动闭环控制驱动器驱动的新型可变刚度体重支撑系统

IF 2.2 3区工程技术

Actuators Pub Date : 2024-08-08 DOI: 10.3390/act13080304

Xiao Li, Jizheng Zhong, Songyang An, Yizhe Huang

{"title":"A New Variable-Stiffness Body Weight Support System Driven by Two Active Closed-Loop Controlled Drives","authors":"Xiao Li, Jizheng Zhong, Songyang An, Yizhe Huang","doi":"10.3390/act13080304","DOIUrl":"https://doi.org/10.3390/act13080304","url":null,"abstract":"Body weight support (BWS) systems are crucial in gait rehabilitation for individuals incapacitated due to injuries or medical conditions. Traditional BWS systems typically employ either static mass–rope or dynamic mass–spring–damper configurations, which can result in inadequate support stiffness, thereby leading to compromised gait training. Additionally, these systems often lack the flexibility for easy customization of stiffness, which is vital for personalized rehabilitation treatments. A novel BWS system with online variable stiffness is introduced in this study. This system incorporates a drive mechanism governed by admittance control that dynamically adjusts the stiffness by modulating the tension of a rope wrapped around a drum. An automated control algorithm is integrated to manage a smart anti-gravity dynamic suspension system, which ensures consistent and precise weight unloading adjustments throughout rehabilitation sessions. Walking experiments were performed to evaluate the displacement and load variations within the suspension ropes, thereby validating the variable-stiffness capability of the system. The findings suggest that the online variable-stiffness BWS system can reliably alter the stiffness levels and that it exhibits robust performance, significantly enhancing the effectiveness of gait rehabilitation. The newly developed BWS system represents a significant advancement in personalized gait rehabilitation, offering real-time stiffness adjustments and ongoing weight support customization. It ensures dependable control and robust operation, marking a significant step forward in tailored therapeutic interventions for gait rehabilitation.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141926407","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Optimization Design of a Polyimide High-Pressure Mixer Based on SSA-CNN-LSTM-WOA 基于 SSA-CNN-LSTM-WOA 的聚酰亚胺高压混合器优化设计

IF 2.2 3区工程技术

Actuators Pub Date : 2024-08-08 DOI: 10.3390/act13080303

Guo Yang, Guangzhong Hu, Xianguo Tuo, Yuedong Li, Jing Lu

{"title":"Optimization Design of a Polyimide High-Pressure Mixer Based on SSA-CNN-LSTM-WOA","authors":"Guo Yang, Guangzhong Hu, Xianguo Tuo, Yuedong Li, Jing Lu","doi":"10.3390/act13080303","DOIUrl":"https://doi.org/10.3390/act13080303","url":null,"abstract":"Foam mixers are classified as low-pressure and high-pressure types. Low-pressure mixers rely on agitator rotation, facing cleaning challenges and complex designs. High-pressure mixers are simple and require no cleaning but struggle with uneven mixing for high-viscosity substances. Traditionally, increasing the working pressure resolved this, but material quality limits it at higher pressures. To address the issues faced by high-pressure mixers when handling high-viscosity materials and to further improve the mixing performance of the mixer, this study focuses on a polyimide high-pressure mixer, identifying four design variables: impingement angle, inlet and outlet diameters, and impingement pressure. Using a Full Factorial Design of Experiments (DOE), the study investigates the impacts of these variables on mixing unevenness. Sample points were generated using Optimal Latin Hypercube Sampling—OLH. Combining the Sparrow Search Algorithm (SSA), Convolutional Neural Network (CNN), and Long Short-Term Memory Network (LSTM), the SSA-CNN-LSTM model was constructed for predictive analysis. The Whale Optimization Algorithm (WOA) optimized the model, to find an optimal design variable combination. The Computational Fluid Dynamics (CFD) simulation results indicate a 70% reduction in mixing unevenness through algorithmic optimization, significantly improving the mixer’s performance.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-08-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141928614","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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 Nonlinear Active Disturbance Rejection Feedback Control Method for Proton Exchange Membrane Fuel Cell Air Supply Subsystems 质子交换膜燃料电池供气子系统的非线性主动干扰抑制反馈控制方法

IF 2.2 3区工程技术

Actuators Pub Date : 2024-07-14 DOI: 10.3390/act13070268

Jiaming Zhou, Weixiang Ding, Jinming Zhang, Fengyan Yi, Zhiming Zhang, Guangping Wu, Caizhi Zhang

{"title":"A Nonlinear Active Disturbance Rejection Feedback Control Method for Proton Exchange Membrane Fuel Cell Air Supply Subsystems","authors":"Jiaming Zhou, Weixiang Ding, Jinming Zhang, Fengyan Yi, Zhiming Zhang, Guangping Wu, Caizhi Zhang","doi":"10.3390/act13070268","DOIUrl":"https://doi.org/10.3390/act13070268","url":null,"abstract":"The control strategy of the gas supply subsystem is very important to ensure the performance and stability of the fuel cell system. However, due to the inherent nonlinear characteristics of the fuel cell gas supply subsystem, the traditional control strategy is mainly based on proportional integral (PI) control, which has the disadvantages of large limitation, large error, limited immunity, and inconsistent control performance, which seriously affects its effectiveness. In order to overcome these challenges, this paper proposes an optimal control method for air supply subsystems based on nonlinear active disturbance rejection control (ADRC). Firstly, a seven-order fuel cell system model is established, and then, the nonlinear ADRC and traditional PI control strategies are compared and analyzed. Finally, the two strategies are simulated and compared. The validation results indicate that the integral absolute error (IAE) measure of PI control is 0.502, the integral square error (ISE) measure is 0.1382, and the total variation (TV) measure is 399.1248. Compared with the PI control, the IAE and ISE indexes of ADRC were reduced by 61.31% and 58.03%, respectively. ADRC is superior to PI control strategy in all aspects and realizes the efficient adjustment of the system under different working conditions. ADRC is more suitable for the nonlinear characteristics of the gas supply system and is more suitable for the oxygen excess ratio (OER).","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-07-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141650616","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Disturbance Observer-Based Adaptive Fault Tolerant Control with Prescribed Performance of a Continuum Robot 基于扰动观测器的具有规定性能的自适应容错控制连续机器人

IF 2.2 3区工程技术

Actuators Pub Date : 2024-07-14 DOI: 10.3390/act13070267

Shoulin Xu

引用次数: 0

Comparative Study of Mechanical Scaling Effects of Origami-Inspired Motion Generation Mechanisms with Multi-Degree Vertices 多顶点折纸运动生成机制的机械缩放效应比较研究

IF 2.2 3区工程技术

Actuators Pub Date : 2024-07-13 DOI: 10.3390/act13070266

Seetharam Krishnapuram, X. Xiao, Hongliang Ren

{"title":"Comparative Study of Mechanical Scaling Effects of Origami-Inspired Motion Generation Mechanisms with Multi-Degree Vertices","authors":"Seetharam Krishnapuram, X. Xiao, Hongliang Ren","doi":"10.3390/act13070266","DOIUrl":"https://doi.org/10.3390/act13070266","url":null,"abstract":"Origami exhibits the remarkable ability to transform into diverse shapes, including quadrilaterals, triangles, and more complex polygons. This unique property has inspired the integration of origami principles into engineering design, particularly in the development of foldable mechanisms. In the field of robotics, when combined with actuators, these foldable mechanisms are referred to as active origami. Origami-based mechanisms play a pivotal role as versatile end effectors or grippers, enabling them to accurately trace desired trajectories. The performance of these mechanisms heavily relies on their specific fold patterns. To shed light on their capabilities, this study focuses on five representative structures using spherical mechanisms: oriceps, Miura ori, MACIOR, and two hexagonal structures. To assess their potential, a comparative analysis is conducted, evaluating their kinematic and scaling performances. The analysis employs the “scaling factor” as a metric, which quantifies the mechanical advantage of these mechanisms. This metric aids in the selection of appropriate structures for various applications.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141651261","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Fault Diagnosis of Unmanned Aerial Systems Using the Dempster–Shafer Evidence Theory 利用 Dempster-Shafer 证据理论诊断无人机系统故障

IF 2.2 3区工程技术

Actuators Pub Date : 2024-07-12 DOI: 10.3390/act13070264

Nikun Liu, Zhenfeng Zhou, Lijun Zhu, Yixin He, Fanghui Huang

{"title":"Fault Diagnosis of Unmanned Aerial Systems Using the Dempster–Shafer Evidence Theory","authors":"Nikun Liu, Zhenfeng Zhou, Lijun Zhu, Yixin He, Fanghui Huang","doi":"10.3390/act13070264","DOIUrl":"https://doi.org/10.3390/act13070264","url":null,"abstract":"Unmanned aerial systems (UASs) find diverse applications across military, civilian, and commercial sectors, including military reconnaissance, aerial photography, environmental monitoring, precision agriculture, logistics, and rescue operations, offering efficient, safe, and cost-effective solutions to various industries. To ensure the stable and reliable operation of UASs, fault diagnosis is essential, which can enhance safety, and minimize potential risks and losses. However, most existing fault diagnosis methods rely on a single physical quantity as the primary information source or solely consider fault data at a single moment, leading to challenges of low diagnostic accuracy and limited reliability. Aimed at this problem, this paper presents a fault diagnosis method based on time–space domain weighted information fusion for UASs. First, the Gaussian fault model is constructed for the data with different fault features in the space domain. Next, the weighted coefficient method is used to generate the basic probability assignment (BPA) by matching the fault data with the Gaussian fault model. Then, the Dempster’s combination rule, which enables the Dempster–Shafer (D-S) evidence theory, is adopted to fuse the generated BPAs. Based on this, the pignistic probability transformation is performed to determine the fault type. Finally, numerical results demonstrate the effectiveness of the proposed fault diagnosis method in accurately identifying the fault types of UASs.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-07-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141654021","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Increasing Payload Capacity of a Continuum Soft Robot Using Bio-Inspired Ossicle Reinforcement 利用生物启发的听小骨强化技术提高连续软体机器人的有效载荷能力

IF 2.2 3区工程技术

Actuators Pub Date : 2024-07-12 DOI: 10.3390/act13070265

Jacek Garbulinski, Sai C. Balasankula, N. Wereley

引用次数: 0

Actuators最新文献