Mechatronics最新文献_第2页

Force feedback controller of a parallel haptic device via online adaptive dynamic programming

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-01-17 DOI: 10.1016/j.mechatronics.2025.103293

Zhaopeng Jin, Yanzhi Zhao, Yue Sun, Yajun Liu

{"title":"Force feedback controller of a parallel haptic device via online adaptive dynamic programming","authors":"Zhaopeng Jin, Yanzhi Zhao, Yue Sun, Yajun Liu","doi":"10.1016/j.mechatronics.2025.103293","DOIUrl":"10.1016/j.mechatronics.2025.103293","url":null,"abstract":"<div><div>Haptic devices can replicate real-time force signals, which demand high accuracy and real-time performance. However, several common factors affect the accuracy of system modeling, which potentially limit the performance of haptic devices. These factors include unavoidable errors and unmodeled dynamics in the systems themselves, as well as uncertainties stemming from human–computer interaction (HCI) processes. Considering these unfavorable circumstances, this paper designs and fabricates a novel parallel haptic device with three degrees of freedom (DoF). To enhance modeling accuracy, a model-data driven approach is employed, utilizing the theoretical dynamic model as prior knowledge. A recurrent neural network (RNN) is used to approximate the actual system model. Subsequently, the online adaptive dynamic programming (ADP) technique is applied to achieve force reproduction. Critic-action networks are established to minimize the search for the established value function by continuously updating the weights of both networks in real-time. Through rigorous experimentation, the proposed haptic device successfully reproduces the desired force sensing signal and exhibits excellent adaptability.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"106 ","pages":"Article 103293"},"PeriodicalIF":3.1,"publicationDate":"2025-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143153984","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Development of a preformed armor rod repair robot for optical fiber composite overhead ground wire (OPGW)

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-01-14 DOI: 10.1016/j.mechatronics.2025.103292

Yuehua Wang , Yanheng Liu , Taegyun Kim

引用次数: 0

Fixed-structure sampled-data feedforward control for multivariable motion systems

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-01-08 DOI: 10.1016/j.mechatronics.2024.103288

Masahiro Mae , Max van Haren , Koen Classens , Wataru Ohnishi , Tom Oomen , Hiroshi Fujimoto

引用次数: 0

Structured physics-guided neural networks for electromagnetic commutation applied to industrial linear motors

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-01-06 DOI: 10.1016/j.mechatronics.2024.103291

Max Bolderman , Mircea Lazar , Hans Butler

{"title":"Structured physics-guided neural networks for electromagnetic commutation applied to industrial linear motors","authors":"Max Bolderman , Mircea Lazar , Hans Butler","doi":"10.1016/j.mechatronics.2024.103291","DOIUrl":"10.1016/j.mechatronics.2024.103291","url":null,"abstract":"<div><div>Mechatronic systems are described by an interconnection of the electromagnetic part, i.e., a static position-dependent nonlinear relation between currents and forces, and the mechanical part, i.e., a dynamic relation from forces to position. Commutation inverts a model of the electromagnetic part of the system, and thereby removes the electromagnetic part from the position control problem. Typical commutation algorithms rely on simplified models derived from physics-based knowledge, which do not take into account position dependent parasitic effects. In turn, these commutation related model errors translate into position tracking errors, which limit the system performance. Therefore, in this work, we develop a data-driven approach to commutation using physics-guided neural networks (PGNNs). A novel PGNN model is proposed which structures neural networks (NNs) to learn specific motor dependent parasitic effects. The PGNN is used to identify a model of the electromagnetic part using force measurements, after which it is analytically inverted to obtain a PGNN-based commutation algorithm. Motivated by industrial applications, we develop an input transformation to deal with systems with fixed commutation, i.e., when the currents cannot be controlled. Real-life experiments on an industrial coreless linear motor (CLM) demonstrate a factor 10 improvement in the commutation error in driving direction and a factor 4 improvement in the position error with respect to classical commutation in terms of the mean-squared error (MSE).</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"106 ","pages":"Article 103291"},"PeriodicalIF":3.1,"publicationDate":"2025-01-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143153091","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive event-triggered integrated control for autonomous vehicle steering and lateral stability with interval type-2 fuzzy method

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-01-02 DOI: 10.1016/j.mechatronics.2024.103290

Pengxu Li , Yongfu Wang , Jing Zhao , Panshuo Li

{"title":"Adaptive event-triggered integrated control for autonomous vehicle steering and lateral stability with interval type-2 fuzzy method","authors":"Pengxu Li , Yongfu Wang , Jing Zhao , Panshuo Li","doi":"10.1016/j.mechatronics.2024.103290","DOIUrl":"10.1016/j.mechatronics.2024.103290","url":null,"abstract":"<div><div>This paper studies the integrated control problem of autonomous vehicle steering system and lateral stability. Firstly, considering the steer-by-wire system dynamics and vehicle lateral dynamics together, an uncertain integrated model is established for controller design. Secondly, an adaptive event-triggered scheme is adopted in the control system design to save the communication resources of the in-vehicle communication network and reduce the potential network congestion. Thirdly, considering the time-varying longitudinal velocity and measurement error uncertainty in the system, an interval type-2 fuzzy-based controller is designed, and the <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> tracking performance is guaranteed. In addition, due to the presence of system state variables that are difficult to measure, the static output-feedback scheme is used in control design, and a co-design method of the feedback gains and the event-triggering weight matrix is presented. Finally, the performance and superiority of the designed controller are verified via the real-time hardware-in-the-loop experiment. The experimental results show that the designed control strategy can effectively improve the lateral stability under the premise of precise steering and significantly save the communication bandwidth.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"106 ","pages":"Article 103290"},"PeriodicalIF":3.1,"publicationDate":"2025-01-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143153994","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Mapping noise optimization of the cartographer on the premise of comparative experimental analysis

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2025-01-01 DOI: 10.1016/j.mechatronics.2024.103289

Xuefei Liu, Haifei Chen, Zicheng Gao, Meirong Chen, Lijun Li, Kai Liao

{"title":"Mapping noise optimization of the cartographer on the premise of comparative experimental analysis","authors":"Xuefei Liu, Haifei Chen, Zicheng Gao, Meirong Chen, Lijun Li, Kai Liao","doi":"10.1016/j.mechatronics.2024.103289","DOIUrl":"10.1016/j.mechatronics.2024.103289","url":null,"abstract":"<div><div>To diminish mapping noise caused by excessive delay and accumulated odometer errors, this paper investigates the optimization problem of the Cartographer simultaneous localization and mapping (SLAM) algorithm based on comparative experiments. Firstly, with the premise of normalization, comparative experimental analysis was conducted on four mainstream LiDAR SLAM algorithms. It solves the problem that the comparative analysis of current LiDAR SLAM algorithms mostly stays in the simulation level and few on experiment, and also confirm the superiority of Cartographer and discover its shortcomings. Then, make further optimizations for Cartographer: (1) Introducing a threshold to reduce computational load, so that global SLAM and local SLAM always keep up with real-time input, solving the problem of excessive delay between global SLAM and local SLAM; (2) Optimizing the rotation weight based on the confidence level of local SLAM or odometer to reduce the accumulated odometer error. Finally, an autonomous navigation experiment for complex indoor scenes was designed using the Ackerman car as the platform, and the A* and TEB algorithms were introduced to verify the optimized Cartographer mapping effect. The experimental results show that the optimized Cartographer reduces noise and greatly improves subsequent navigation accuracy and stability.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"106 ","pages":"Article 103289"},"PeriodicalIF":3.1,"publicationDate":"2025-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143153993","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Real-time angle estimation in IMU sensors: An adaptive Kalman filter approach with forgetting factor

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-12-26 DOI: 10.1016/j.mechatronics.2024.103280

Zolfa Anvari , Ali Mirhaghgoo , Yasin Salehi

{"title":"Real-time angle estimation in IMU sensors: An adaptive Kalman filter approach with forgetting factor","authors":"Zolfa Anvari , Ali Mirhaghgoo , Yasin Salehi","doi":"10.1016/j.mechatronics.2024.103280","DOIUrl":"10.1016/j.mechatronics.2024.103280","url":null,"abstract":"<div><div>In recent years, the applications of Inertial Measurement Unit (IMU) sensors have witnessed significant growth across multiple fields. However, challenges regarding angle estimation using these sensors have emerged, primarily because of the lack of accuracy in accelerometer-based dynamic motion measurements and the associated bias and error accumulation when combined with gyroscope integration. Consequently, the Kalman filter has become a popular choice for addressing these issues, as it enables the sensor to operate dynamically. Despite its widespread use, the Kalman filter requires precise noise statistics estimation for optimal noise cancellation. To accommodate this requirement, adaptive Kalman filter algorithms have been developed for estimating zero-mean Gaussian process matrix (<span><math><mi>Q</mi></math></span>) and measurement matrix (<span><math><mi>R</mi></math></span>) variances. This study introduces a real-time adaptive approach that employs a forgetting factor to precisely estimate roll and pitch angles in a 6-axis IMU. The study’s novelty lies in its algorithm, which computes the forgetting factor based on the estimation error of the last samples in the sequence. Experimental results for roll angle indicate that, in response to a step change signal, this method achieves a 54%, 39%, and 70% reduction in RMS error relative to the raw sensor data, traditional Kalman filter, and a hybrid adaptive method, respectively. Moreover, this technique exhibits significant improvements in both fixed and sinusoidal conditions for roll and pitch angles, successfully carrying out tasks within required timescales without failures related to computation time.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"106 ","pages":"Article 103280"},"PeriodicalIF":3.1,"publicationDate":"2024-12-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143153992","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Using Franka Emika collaborative robot as a haptic device

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-12-13 DOI: 10.1016/j.mechatronics.2024.103287

Wilson Brian, Sebastián Gutiérrez, Jorge Juan Gil

引用次数: 0

Three degree-of-freedom control of an electrostatically suspended disk

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-12-06 DOI: 10.1016/j.mechatronics.2024.103271

Kenneth E. Pyle , Robert T. M’Closkey

引用次数: 0

Gravity compensation mechanism with torque adjustment using magnetic energy

IF 3.1 3区计算机科学

Mechatronics Pub Date : 2024-12-04 DOI: 10.1016/j.mechatronics.2024.103279

Leimeng Shan , Weizhen Zhu , Kyung-min Lee

{"title":"Gravity compensation mechanism with torque adjustment using magnetic energy","authors":"Leimeng Shan , Weizhen Zhu , Kyung-min Lee","doi":"10.1016/j.mechatronics.2024.103279","DOIUrl":"10.1016/j.mechatronics.2024.103279","url":null,"abstract":"<div><div>In this paper, a gravity compensation mechanism using non-contact magnetic energy is proposed. The non-contact magnetic torque enabled a working range of over 360° and an adjustable maximum compensation torque from 32 to 72 Nm. The proposed mechanism has a simple structure consisting of two stators and a rotating rotor. The stator consists of a yoke and two fan-shaped permanent magnets (PMs) that are magnetized axially and attached to one side of the yoke in different magnetization directions. The rotor consisted of two PMs and a rotating axis. A total of six PMs form a magnetic flux circulation. The rotation of the rotor cuts the magnetic flux circulation and generates the magnetic attraction and repulsion forces between the PMs. The shapes of the PMs are designed to generate the desired sinusoidal torque profiles over 360° and to maximize the compensation torque. The detailed design parameters of the PM and yoke were determined using finite element analysis. It was experimentally verified that the mechanism generates the expected torque and reduces the output torque and average power consumption of a driving motor.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"106 ","pages":"Article 103279"},"PeriodicalIF":3.1,"publicationDate":"2024-12-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143153989","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0