Actuators最新文献_第2页

Design and Test of the Electrical System of the All-Electric Subsea Gate Valve Actuator 全电动海底闸阀执行机构电气系统的设计和测试

IF 2.2 3区工程技术

Actuators Pub Date : 2024-07-11 DOI: 10.3390/act13070263

Honghai Wang, Guiqian Liu, Lai Zhou, Peng Jia, Feihong Yun

{"title":"Design and Test of the Electrical System of the All-Electric Subsea Gate Valve Actuator","authors":"Honghai Wang, Guiqian Liu, Lai Zhou, Peng Jia, Feihong Yun","doi":"10.3390/act13070263","DOIUrl":"https://doi.org/10.3390/act13070263","url":null,"abstract":"To bridge the gap in the research on the control and drive methods of the key equipment of the new subsea production control system, all-electric subsea gate valve actuator, and to solve the problems of the valve control and drive system in the traditional subsea production system, this paper proposed a full-featured and feasible electrical system of the all-electric subsea gate valve actuator containing the control system and the drive system. The key functions were realized, including status monitoring, redundant communication, redundant power supply, redundant drive, and low-power open-position holding. The electrical system is suitable for monitoring and controlling all-electric subsea gate valve actuators with various specifications and is highly integrated, open, efficient, and real-time. The electrical system prototype was developed and successfully tested for several functions. The results showed that the all-electric subsea gate valve actuator electrical system was capable of controlling and driving the actuator, monitoring the status information of the internal and external environment of the system, as well as the power output information of the drive system, and having redundancy features.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141656441","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

Properties Analysis of Hydraulic PTO Output Fluctuation Regulating Based on Accumulator 基于蓄能器的液压 PTO 输出波动调节性能分析

IF 2.2 3区工程技术

Actuators Pub Date : 2024-07-11 DOI: 10.3390/act13070261

Han Jia, Z. Pei, Zhiyong Tang, Meng Li

{"title":"Properties Analysis of Hydraulic PTO Output Fluctuation Regulating Based on Accumulator","authors":"Han Jia, Z. Pei, Zhiyong Tang, Meng Li","doi":"10.3390/act13070261","DOIUrl":"https://doi.org/10.3390/act13070261","url":null,"abstract":"Hydraulic power take-off (PTO) is increasingly favored as energy regulation and transmission system in wave energy converters (WEC), significantly smoothing the inherent randomness and fluctuation of wave energy. This paper designed a novel hydraulic PTO system composition of a double-acting hydraulic cylinder pump and accumulators. The dynamic process sub-division principle in an operating period of the hydraulic cylinder pump and accumulator and the mathematical model for explaining the fluctuations of pressure and flow rate in the hydraulic pump and accumulator circuit by means of the sub-division principle are put forward. The MATLAB/Simulink simulation model used to analyze pressure fluctuation in the hydraulic PTO system is established based on the mathematical model. The numerical results and MATLAB simulation results are mutually verified about the fine analysis of the accumulator smoothing fluctuation in the hydraulic PTO system. The results show that the pressure fluctuation amplitude of a hydraulic circuit is negatively correlated with the accumulator pre-charge pressure and the accumulator volume, and is positively correlated with the operating period of a hydraulic pump. The energy transfer efficiency of the hydraulic PTO system with accumulator fine compensation can be above 90%. The theory and model in this paper will serve as a valuable reference for designing fluctuation compensation parameters in hydraulic systems.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141658195","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

An Ultrasonic Vibration Scratch Tester for Studying the Scratch Characteristics of Materials under Ultrasonic Vibration Contact Status 用于研究超声波振动接触状态下材料划痕特征的超声波振动划痕测试仪

IF 2.2 3区工程技术

Actuators Pub Date : 2024-07-11 DOI: 10.3390/act13070262

Yaming Huang, Haoxiang Wu, Yuan Yao, Hongwei Zhao, Hu Huang

{"title":"An Ultrasonic Vibration Scratch Tester for Studying the Scratch Characteristics of Materials under Ultrasonic Vibration Contact Status","authors":"Yaming Huang, Haoxiang Wu, Yuan Yao, Hongwei Zhao, Hu Huang","doi":"10.3390/act13070262","DOIUrl":"https://doi.org/10.3390/act13070262","url":null,"abstract":"Ultrasonic vibration-assisted machining is a promising technique for improving the removability of materials, especially for difficult-to-machine materials, but the material removal mechanism under ultrasonic vibration status is still far from clear. Scratch testing is generally employed to study the material removal mechanism, but currently, there is a lack of instruments capable of performing scratch testing under ultrasonic vibration. To address this gap, this study developed an ultrasonic vibration scratch tester that can perform quantitative ultrasonic vibration-assisted scratch (UVAS) testing of materials. A prototype was designed and fabricated, followed by characterizing its performance parameters. Comparative experiments of conventional scratch (CS) testing and UVAS testing were performed on AL1050 to investigate the effects of ultrasonic vibration on scratch characteristics, such as the scratch depth and coefficient of friction. It was found that compared to CS testing, UVAS testing, with an amplitude of 1.45 µm and a frequency of 20 kHz, achieved a maximum reduction in the coefficient of friction of approximately 22.5% and a maximum increase in the depth of the residual scratch of approximately 175%. These findings confirm the superiority of ultrasonic vibration-assisted machining and demonstrate the requirement for the development of ultrasonic vibration scratch testers.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141658178","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

Leveraging Cooperative Intent and Actuator Constraints for Safe Trajectory Planning of Autonomous Vehicles in Uncertain Traffic Scenarios 在不确定的交通场景中，利用合作意向和执行器约束实现自动驾驶汽车的安全轨迹规划

IF 2.2 3区工程技术

Actuators Pub Date : 2024-07-10 DOI: 10.3390/act13070260

Yuquan Zhu, Juntong Lv, Qingchao Liu

{"title":"Leveraging Cooperative Intent and Actuator Constraints for Safe Trajectory Planning of Autonomous Vehicles in Uncertain Traffic Scenarios","authors":"Yuquan Zhu, Juntong Lv, Qingchao Liu","doi":"10.3390/act13070260","DOIUrl":"https://doi.org/10.3390/act13070260","url":null,"abstract":"This study explores the integration of dynamic vehicle trajectories, vehicle safety factors, static traffic environments, and actuator constraints to improve cooperative intent modeling for autonomous vehicles (AVs) navigating uncertain traffic scenarios. Existing models often focus solely on interactions between dynamic trajectories, limiting their ability to fully interpret the intentions of surrounding vehicles. To address this limitation, we present a more comprehensive approach using the Cooperative Intent Multi-Layer Graph Neural Network (CMGNN) model. The CMGNN analyzes not only the dynamic trajectories but also the lane position relationships, vehicle angle changes, and actuator constraints and performs group interaction analysis. This richer information allows the CMGNN to more accurately capture the cooperative intent and better understand the surrounding vehicle behavior. This study investigated the impact of the CMGNN in the Carla simulator on surrounding vehicle trajectory prediction and AV safe trajectory planning. An innovative mechanism for dynamic trajectory risk assessment is introduced, which takes into account the constraints of the actuators when evaluating trajectory planning metrics. The results show that incorporating cooperative intent and considering the actuator limitations enhanced the CMGNN’s safety and driving efficiency in uncertain scenarios, significantly reducing the probability of AVs colliding. This is achieved as the model dynamically adapts its driving strategy based on the real-time traffic conditions, the perceived intentions of the surrounding vehicles, and the physical constraints of the vehicle actuators.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-07-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141659343","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

Adaptive Fuzzy Fault-Tolerant Attitude Control for a Hypersonic Gliding Vehicle: A Policy-Iteration Approach 高超音速滑翔飞行器的自适应模糊容错姿态控制：策略迭代法

IF 2.2 3区工程技术

Actuators Pub Date : 2024-07-09 DOI: 10.3390/act13070259

Meijie Liu, Changhua Hu, Hong Pei, Hongzeng Li, Xiaoxiang Hu

引用次数: 0

L1 Adaptive Fault-Tolerant Control for Nonlinear Systems Subject to Input Constraint and Multiple Faults 受输入约束和多重故障影响的非线性系统的 L1 自适应容错控制

IF 2.2 3区工程技术

Actuators Pub Date : 2024-07-09 DOI: 10.3390/act13070258

Yan Zhou, Huiying Liu, Huijuan Guo

{"title":"L1 Adaptive Fault-Tolerant Control for Nonlinear Systems Subject to Input Constraint and Multiple Faults","authors":"Yan Zhou, Huiying Liu, Huijuan Guo","doi":"10.3390/act13070258","DOIUrl":"https://doi.org/10.3390/act13070258","url":null,"abstract":"This paper investigates an L1 adaptive fault-tolerant control scheme for nonlinear systems with input constraint, external disturbances, and multiple faults, which include actuator faults and sensor faults. Faults and input constraint are important factors that affect the stability and performance of a control system. Actuators and sensors are the most vulnerable components, with the former receiving more attention in comparison. In this paper, sensor faults are first transformed into pseudo-actuator faults through the augmented matrix approach, which facilitates their handling together with actuator faults. Saturation constraints on the control signal are not conducive to the design of the controller. The conversion of an input-saturated function to a time-varying linear system is completed based on function approximation and Lagrange’s mean value theorem. Moreover, a nonlinear system with unknown input gain and uncertainties is constructed using these methods. Next, an L1 adaptive fault-tolerant controller is designed to cope with uncertainties, including system uncertainties, external disturbances, faults, and approximation errors. In the L1 adaptive controller, the online estimation of the time-varying parameters allows for updating of the system state, while the combination of the two is transmitted to the control law such that it can compensate for the effects of the uncertainties. The stability and performance boundaries are further derived using the Lyapunov theory and the L1 reference system. Finally, simulations are carried out to demonstrate the effectiveness of the proposed controller.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141665910","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

Calibration to Differentiate Power Output by the Manual Wheelchair User from the Pushrim-Activated Power-Assisted Wheel on a Force-Instrumented Computer-Controlled Wheelchair Ergometer 通过校准来区分手动轮椅使用者和推力计动力辅助轮在测力计上的输出功率

IF 2.2 3区工程技术

Actuators Pub Date : 2024-07-09 DOI: 10.3390/act13070257

Jelmer Braaksma, Enrico Ferlinghetti, Sonja de Groot, Matteo Lancini, H. Houdijk, R. Vegter

{"title":"Calibration to Differentiate Power Output by the Manual Wheelchair User from the Pushrim-Activated Power-Assisted Wheel on a Force-Instrumented Computer-Controlled Wheelchair Ergometer","authors":"Jelmer Braaksma, Enrico Ferlinghetti, Sonja de Groot, Matteo Lancini, H. Houdijk, R. Vegter","doi":"10.3390/act13070257","DOIUrl":"https://doi.org/10.3390/act13070257","url":null,"abstract":"To examine the biomechanical demands of manual wheelchair propulsion, it is crucial to determine the wheelchair user’s (WCU) force for propulsion technique parameter calculation. When using a pushrim-activated power-assisted wheelchair (PAPAW) on a wheelchair ergometer, a combined propulsion force from the WCU and PAPAW is exerted. To understand PAPAW’s assistance and distinguish the WCU’s force application from the force exerted by the PAPAW, both propulsion components must be assessed separately. In this study, a calibration of the PAPAW on an ergometer was developed to achieve this separation. The calibration consists of five steps: (I) Collecting data on force and velocity measured from the ergometer, along with electrical current and velocity from the PAPAW. (II) Synchronizing the velocity signals of the wheelchair ergometer and PAPAW using cross-correlation. (III) Calibrating the PAPAW’s electromotors to convert electrical current (mA) to force (N). A product-specific motor constant of 0.30, provided an average ICC of 0.563, indicating a moderate agreement between the raw ergometer data (N) and the motor constant-converted drive-rim (PAPAW) data (from mA to N). (IV) Subtracting the PAPAW’s force signal from the ergometer’s measured force to isolate forces generated by the WCU. (V) Using markerless motion capture to determine and validate the phase of hand contact with the handrim. This technical note provides an example of PAPAW calibration for researchers and clinicians. It emphasizes the importance of integrating this calibration into the development of PAPAW devices to reveal the complex interaction between PAPAW and WCU during wheelchair propulsion.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141665706","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

Trajectory Synthesis and Linkage Design of Single-Degree-of-Freedom Finger Rehabilitation Device 单自由度手指康复装置的轨迹合成与联动设计

IF 2.2 3区工程技术

Actuators Pub Date : 2024-07-06 DOI: 10.3390/act13070256

Ping Zhao, Yang-peng Wang, Yating Zhang, Yong Wang

引用次数: 0

Optimization Comparison of Torque Performance of Axial-Flux Permanent-Magnet Motor Using Differential Evolution and Cuckoo Search 利用差分进化和布谷鸟搜索优化比较轴流永磁电机的扭矩性能

IF 2.2 3区工程技术

Actuators Pub Date : 2024-07-04 DOI: 10.3390/act13070255

Wei Ge, Yiming Xiao, Feng Cui, Xiaosheng Wu, Wu Liu

{"title":"Optimization Comparison of Torque Performance of Axial-Flux Permanent-Magnet Motor Using Differential Evolution and Cuckoo Search","authors":"Wei Ge, Yiming Xiao, Feng Cui, Xiaosheng Wu, Wu Liu","doi":"10.3390/act13070255","DOIUrl":"https://doi.org/10.3390/act13070255","url":null,"abstract":"To improve the torque performance of the axial-flux permanent-magnet motor (AFPMM), differential evolution (DE) and cuckoo search (CS) are proposed for optimizing the motor’s structural parameters. The object of this research is an AFPMM with a single-rotor and double-stator configuration. Firstly, finite element analysis (FEA) and BP neural network machine learning (ML) were combined to obtain an ML calculator. This calculator is about the relationships between five input structural parameters of the motor and two output torque parameters (i.e., average torque and cogging torque). Then, an optimization objective function was designed to reduce the cogging torque while increasing the average output torque. And motor structural parameters were optimized using the DE and CS algorithms, respectively. Finally, air-gap flux density, average torque, cogging torque, and ripple torque before and after the optimization of the motor structure parameters are compared by FEA. The results show that both algorithms achieved almost the same optimized structural parameters. And the optimized motor has reduced cogging torque while increasing the average output torque and reducing the ripple torque. Compared with the CS, the DE is more advantageous in terms of faster iteration speed, shorter time to obtain the optimal solution, and less resource consumption.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141678683","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

JVC-02 Teleoperated Robot: Design, Implementation, and Validation for Assistance in Real Explosive Ordnance Disposal Missions JVC-02 远程操作机器人：在实际爆炸物处理任务中提供协助的设计、实施和验证

IF 2.2 3区工程技术

Actuators Pub Date : 2024-07-02 DOI: 10.3390/act13070254

Luis F. Canaza Ccari, Ronald Adrian Ali, Erick Valdeiglesias Flores, Nicolás O. Medina Chilo, Erasmo Sulla Espinoza, Y. Silva Vidal, Lizardo Pari

{"title":"JVC-02 Teleoperated Robot: Design, Implementation, and Validation for Assistance in Real Explosive Ordnance Disposal Missions","authors":"Luis F. Canaza Ccari, Ronald Adrian Ali, Erick Valdeiglesias Flores, Nicolás O. Medina Chilo, Erasmo Sulla Espinoza, Y. Silva Vidal, Lizardo Pari","doi":"10.3390/act13070254","DOIUrl":"https://doi.org/10.3390/act13070254","url":null,"abstract":"Explosive ordnance disposal (EOD) operations are hazardous due to the volatile and sensitive nature of these devices. EOD robots have improved these tasks, but their high cost limits accessibility for security institutions that do not have sufficient funds. This article presents the design, implementation, and validation of a low-cost EOD robot named JVC-02, specifically designed for use in explosive hazardous environments to safeguard the safety of police officers of the Explosives Disposal Unit (UDEX) of Arequipa, Peru. To achieve this goal, the essential requirements for this type of robot were compiled, referencing the capabilities of Rescue Robots from RoboCup. Additionally, the Quality Function Deployment (QFD) methodology was used to identify the needs and requirements of UDEX police officers. Based on this information, a modular approach to robot design was developed, utilizing commercial off-the-shelf components to facilitate maintenance and repair. The JVC-02 was integrated with a 5-DoF manipulator and a two-finger mechanical gripper to perform dexterity tasks, along with a tracked locomotion mechanism, which enables effective movement, and a three-camera vision system to facilitate exploration tasks. Finally, field tests were conducted in real scenarios to evaluate and experimentally validate the capabilities of the JVC-02 robot, assessing its mobility, dexterity, and exploration skills. Additionally, real EOD missions were carried out in which UDEX agents intervened and controlled the robot. The results demonstrate that the JVC-02 robot possesses strong capabilities for real EOD applications, excelling in intuitive operation, low cost, and ease of maintenance.","PeriodicalId":48584,"journal":{"name":"Actuators","volume":null,"pages":null},"PeriodicalIF":2.2,"publicationDate":"2024-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141685983","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