国际机械系统动力学学报(英文)最新文献

{"title":"A Comprehensive Multistage Average Controller for Trajectory Tracking in Solar-Powered Mobile Robots: Analysis of Actuator-Driver and Power Stage Integration","authors":"Benjamin Natanael Santiago-Nogales,&nbsp;Julio Cesar Ordaz-Dehesa,&nbsp;Ramón Silva-Ortigoza,&nbsp;Erik Reyes-Reyes,&nbsp;J. Martín Alba-Martínez,&nbsp;Juan Eduardo Velázquez-Velázquez,&nbsp;José Rafael García-Sánchez,&nbsp;Magdalena Marciano-Melchor,&nbsp;Hind Taud","doi":"10.1002/msd2.70063","DOIUrl":"https://doi.org/10.1002/msd2.70063","url":null,"abstract":"<p>This work addresses the challenge of bidirectional trajectory tracking in solar-powered wheeled mobile robots (WMRs), considering the mechanical structure, actuator-driver, and power stage subsystems. Notably, this is the first study to explicitly model and control the actuator-driver subsystem within this context. The proposed solution relies on a comprehensive three-stage average controller scheme: the top-stage applies an input–output linearization strategy to ensure accurate bidirectional tracking; the mid-stage employs a control based on differential flatness theory to manage the dynamic behavior of the actuators and their driver, represented by an H-bridge; and the low-stage, also based on flatness theory, regulates the power stage, modeled as a Buck converter. The proposed multistage control strategy is experimentally validated using a differential-drive WMR prototype, where a B&amp;K Precision PVS60085MR source is used to replicate the operational characteristics of a commercial photovoltaic panel. System integration is achieved through a DS1104 control board, with real-time implementation carried out in MATLAB/Simulink. Experimental results demonstrate that the controller successfully fulfills the bidirectional trajectory tracking task, even in the presence of system parameter variations and disturbances in the variable-voltage source.</p>","PeriodicalId":60486,"journal":{"name":"国际机械系统动力学学报(英文)","volume":"6 2","pages":"224-246"},"PeriodicalIF":3.6,"publicationDate":"2026-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/msd2.70063","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148322345","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Bending Analysis of Thickness- and Shear-Deformable Materially Imperfect Composite Shells With von Kármán-Type Geometric Nonlinearities","authors":"Behrouz Karami,&nbsp;Mergen H. Ghayesh,&nbsp;Shahid Hussain,&nbsp;Marco Amabili","doi":"10.1002/msd2.70053","DOIUrl":"https://doi.org/10.1002/msd2.70053","url":null,"abstract":"<p>Geometrically nonlinear static analysis of materially imperfect composite doubly curved shells is investigated via the generalised differential quadrature method. The effects of both shear and thickness deformation are considered through a thickness- and shear-deformable third-order theory formulated in curvilinear coordinates, while the influence of large deformations is accounted for using the von Kármán-type strain–displacement relationships. On the basis of Hamilton's principle, eight nonlinear deformation equations and associated boundary conditions, assumed to be simply supported with movable edges, are derived and discretised. A direct iterative method of the Newton–Raphson type is used to solve the resulting nonlinear algebraic system of equations. In this study, two different types of doubly curved shells are analysed, namely, spherical and elliptical. To describe the continuous variation in material properties, the Voigt bound method is employed, which is further modified to account for material imperfections, such as porosities (voids). Convergence and comparison studies are conducted to validate the accuracy of the proposed numerical model. Numerical results for displacements and stresses are obtained for the two shell geometries, material gradation profiles, porosity distributions, and radii of curvature.</p>","PeriodicalId":60486,"journal":{"name":"国际机械系统动力学学报(英文)","volume":"6 2","pages":"169-186"},"PeriodicalIF":3.6,"publicationDate":"2026-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/msd2.70053","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148322394","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Kinetic Compensation of Barrel Launch Under High-Speed Solid-Phase Particulate Impacts","authors":"Zhiyi He,&nbsp;Guolai Yang,&nbsp;Quanzhao Sun,&nbsp;Shuli Li","doi":"10.1002/msd2.70046","DOIUrl":"https://doi.org/10.1002/msd2.70046","url":null,"abstract":"<p>An accurate launch-dynamics computational method is critical for barrel weapon service life assessment and multiphase physics field refinement. Given the lack of studies on the solid-phase buildup behavior at the projectile base, this paper provides an improved method for calculating the launching dynamics under high pressure and high speed. The method realizes the compensation of projectile base pressure and velocity under the impact of numerous propellant particulates by modifying computational boundaries and appending propulsive forces. Unlike previous studies, it is found that the solid-phase propulsion for the projectile is significantly larger than the gas-phase propulsion for the projectile at the early stage of launch. Moreover, an artillery launch experiment with a large charge zone is conducted to verify the reliability of the computational method. The results show that the dynamic time wrapping deviations of the pressure and velocity based on the proposed method from the launch experiment are only 0.82% and 0.93%, respectively, and the root mean square error values are 2.1 MPa and 3.2 m/s, respectively, which are smaller than the deviation before compensation.</p>","PeriodicalId":60486,"journal":{"name":"国际机械系统动力学学报(英文)","volume":"6 2","pages":"313-326"},"PeriodicalIF":3.6,"publicationDate":"2026-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/msd2.70046","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148322364","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Finite-Time Disturbance Observer-Based Nonlinear Robust Adaptive Control of Hydraulic Manipulator With Parameter Identification","authors":"Tianyu Gao,&nbsp;Xianglong Liang,&nbsp;Wenxiang Deng,&nbsp;Jianyong Yao","doi":"10.1002/msd2.70060","DOIUrl":"https://doi.org/10.1002/msd2.70060","url":null,"abstract":"<p>Hydraulic manipulators exhibit strong coupling, pronounced nonlinearities, and significant modeling uncertainties, which hinder high-precision motion control. This paper proposes a finite-time disturbance observer–based nonlinear robust adaptive control (RAC-FTDO) framework enhanced by a physically consistent dynamic parameter identification scheme. The entire system dynamics, including the hydraulic dynamics, is first derived. A weighted least squares approach is employed to obtain inertial and friction parameters under physical constraints, enabling reliable feedforward compensation. Building on back-stepping principles, an adaptive controller systematically integrates an FTDO and a nonlinear robust strategy, enabling rapid and accurate estimation and compensation of both parametric uncertainties and unmodeled disturbances, while suppressing residual estimation errors and avoiding high-gain feedback. Through Lyapunov stability analysis, the proposed controller achieves improved transient behavior and asymptotic tracking performance. The proposed approach can be extended to multi-degree-of-freedom serial systems and has been experimentally validated on a hydraulic manipulator against several benchmark controllers, demonstrating its effectiveness.</p>","PeriodicalId":60486,"journal":{"name":"国际机械系统动力学学报(英文)","volume":"6 2","pages":"282-298"},"PeriodicalIF":3.6,"publicationDate":"2026-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/msd2.70060","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148322393","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Single Smooth Waveform Command-Shaping Control of Overhead Crane Systems Utilizing Two-Stage Acceleration–Deceleration Profile for Short-Moving Point-to-Point Maneuver","authors":"Mohammed Alfares,&nbsp;Jasem Baroon,&nbsp;Khaled Alhazza","doi":"10.1002/msd2.70059","DOIUrl":"https://doi.org/10.1002/msd2.70059","url":null,"abstract":"<p>Modern industrial demand for efficient material handling in confined spaces has driven the need for overhead cranes capable of short-distance point-to-point maneuvers without compromising payload stability. Conventional three-stage shaper profiles, experiencing acceleration, cruising, and deceleration, become inefficient or infeasible for short distances where cruising speed cannot be reached before deceleration begins. This paper proposes a single smooth waveform command-shaping controller specifically designed for two-stage acceleration–deceleration maneuvers when the cruising stage is eliminated due to distance constraints, offering closed-form coefficients for easy implementation without the need for complex optimization processes. To define where a two-stage shaper is required, feasibility maps defining operational limits across cable lengths, distances, and time constraints are presented. Experimental validation on a laboratory crane confirms strong agreement with numerical simulations, achieving minimal residual oscillations for short-distance and rapid-cycle operations. Sensitivity analysis shows robustness improves with cable length, and the two-stage shaper outperforms the three-stage approach under natural frequency variations. The proposed novel two-stage shaper provides a practical, vibration-free solution for short-distance crane operations where total cycle time must be minimized.</p>","PeriodicalId":60486,"journal":{"name":"国际机械系统动力学学报(英文)","volume":"6 2","pages":"299-312"},"PeriodicalIF":3.6,"publicationDate":"2026-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/msd2.70059","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"148322486","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Trajectory Control of Manipulator Robots With Uncertainties: A Saturated Continuous Integral Sliding Mode Approach","authors":"Emanuel Ortiz-Ortiz,&nbsp;Juan Eduardo Velázquez-Velázquez,&nbsp;Ramón Silva-Ortigoza,&nbsp;Rosalba Galván-Guerra","doi":"10.1002/msd2.70052","DOIUrl":"10.1002/msd2.70052","url":null,"abstract":"<p>This study addresses the trajectory tracking control for manipulator robots with uncertainties. The main objective is to ensure that the robot follows a desired trajectory despite the presence of uncertainties/disturbances and considering control input constraints. The approach is developed in the framework of continuous integral sliding modes. A saturated continuous integral sliding mode controller is used to achieve asymptotic tracking while sustaining input constraints. By suitably designing the sliding variable, the saturated continuous integral sliding mode controller can be expressed in a decoupled input-by-input form. As a result, asymptotic trajectory tracking is ensured, and compensation for uncertainties/disturbances within finite time. Additionally, simulations were carried out for nominal controllers under ideal conditions and in the presence of uncertainties/disturbances. The proposed saturated continuous integral sliding mode approach is compared against other continuous sliding mode control schemes, and their performance is compared using the root-mean-square value. Finally, experimental tests on a 2-DOF manipulator validate the applicability of the proposal.</p>","PeriodicalId":60486,"journal":{"name":"国际机械系统动力学学报(英文)","volume":"6 1","pages":"106-118"},"PeriodicalIF":3.6,"publicationDate":"2026-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/msd2.70052","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147683861","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Cover Image, Volume 6, Number 1, March 2026","authors":"","doi":"10.1002/msd2.70070","DOIUrl":"10.1002/msd2.70070","url":null,"abstract":"<p>Nonlinear vibration behavior of nuclear fuel rods supported by dimple-less spacer grids is investigated through experiments and modeling. Under sinusoidal excitation in water, the system exhibits softening–hardening responses and amplitude-dependent damping, captured by a Bouc–Wen–based model. Compared with traditional grids, the dimple-less design provides higher damping and reduces interaction forces, slippage, and impact-related effects at the rod–grid interface. These results offer valuable insights into fuel rod dynamics and demonstrate the potential of advanced grid designs to mitigate fretting and enhance structural reliability.\u0000\u0000 <figure>\u0000 <div><picture>\u0000 <source></source></picture><p></p>\u0000 </div>\u0000 </figure></p>","PeriodicalId":60486,"journal":{"name":"国际机械系统动力学学报(英文)","volume":"6 1","pages":""},"PeriodicalIF":3.6,"publicationDate":"2026-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/msd2.70070","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147683217","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Data-Based Detection of Antagonistic Agents in a Robot Swarm Solving a Dynamic Coverage Task","authors":"Ingeborg Wenger,&nbsp;Peter Eberhard,&nbsp;Henrik Ebel","doi":"10.1002/msd2.70062","DOIUrl":"10.1002/msd2.70062","url":null,"abstract":"<p>Robot swarms can be deployed as moving surveillance systems, for instance, as mobile anti-poaching systems for monitoring wildlife and detecting poaching activities. Since poachers have an interest in evading detection, robots are at risk of being hijacked and manipulated to behave antagonistically, for example, to prevent the correct surveillance of a group of animals in a certain area. While the detection of cyber-attacks on robots is commonly considered in the context of network activity and communication, this work focuses on the detection of anomalies that manifest in the robots' physical motion behavior. It builds upon our previous work, where a contextual data-driven anomaly detection method was proposed and applied to motions of a robot swarm monitoring a static area. Such data-driven, unsupervised methods for detecting anomalies in the physical behavior of robots are a suitable way of evading the need to define behavioral signatures or rules but only use information on the behavior of “normal,” cooperating robots, and the method proposed earlier demonstrated a strong performance both for recognizing normal robots and for the detection of a single antagonistic robot within a swarm monitoring a static area. Motivated by anti-poaching scenarios, this article goes beyond the earlier work by considering multiple antagonists and a dynamic scenario, where the robots monitor a continually changing area around a herd of animals and therefore do not converge to fixed, optimal positions as in a static scenario. The statistical evaluation shows that the anomaly detection method consistently yields a correct categorization of normal and antagonistic behavior, and that the method's performance is unaffected by an increased number of antagonistic robots in a swarm. Furthermore, the results indicate that, given the availability of a limited amount of new data, the method can be fine-tuned to efficiently adapt to new settings.</p>","PeriodicalId":60486,"journal":{"name":"国际机械系统动力学学报(英文)","volume":"6 1","pages":"22-32"},"PeriodicalIF":3.6,"publicationDate":"2026-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/msd2.70062","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147683212","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Effect of Variations in the Ring Thickness on the Dynamic Performance of the Bimetal Gears","authors":"Bikramjit Singh,&nbsp;Pawan Kumar,&nbsp;S. P. Harsha","doi":"10.1002/msd2.70035","DOIUrl":"10.1002/msd2.70035","url":null,"abstract":"<p>This study used a six-degrees-of-freedom dynamic model to analyze the dynamic response of bimetal spur gears. Aluminum alloy forms the core of the bimetal gears, and a uniform-thickness steel ring surrounds the teeth. Gear mesh stiffness of bimetal gears and the transmission error have been assessed using a numerical approach based on finite element contact analysis. The system steady-state dynamic response is examined in both the frequency and temporal domains. Results indicate a 25%–48% decrease in gear mesh stiffness alongside a rise of 35%–90% in bimetal-gear static transmission error with a weight reduction of 30%–55% compared with an identical steel-gear pair for 2–9 mm ring thickness. Bimetal gears show a reduction of nearly 10%–12% in dynamic factor and 4%–15% in peak-to-peak extreme displacement amplitude compared with steel gears.</p>","PeriodicalId":60486,"journal":{"name":"国际机械系统动力学学报(英文)","volume":"6 1","pages":"86-105"},"PeriodicalIF":3.6,"publicationDate":"2026-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/msd2.70035","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147683886","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Characterization of Fuel Rods Supported by Dimple-Less Spacer Grids and Subjected to Nonlinear Vibrations","authors":"Giovanni Ferrari,&nbsp;Brian Painter,&nbsp;Kostas Karazis,&nbsp;Marco Amabili","doi":"10.1002/msd2.70058","DOIUrl":"10.1002/msd2.70058","url":null,"abstract":"<p>An experimental campaign was undertaken to demonstrate the applicability of the Bouc–Wen hysteretic model to describe the hysteretic system of the recent Framatome dimple-less spacer grid design for Pressurized Water Reactors. The experimental setup subjected a reduced-length fuel rod, supported at both ends by dimple-less grids, to forced sinusoidal excitation while immersed in water. The resulting frequency–amplitude curves, taken at different excitation amplitudes, exhibited an initial softening and then hardening behavior. This behavior is consistent with recent literature on reduced-length rods supported by traditional grids that feature both springs and dimples. Additionally, there was a nonlinear damping increase observed around the fundamental resonance frequency. To simulate the response to forced vibrations, a numerical model based on a single-degree-of-freedom nonlinear equation was employed. The model includes a Bouc–Wen stiffness term, quadratic and cubic stiffness terms, and an equivalent viscous damping which is a function of the vibration amplitude. Notably, when dimple-less grids were used, the resulting fuel rod vibrations exhibited greater damping compared with traditional grids. These findings contribute to our understanding of fuel rod behavior and provide insights for grid design. The interactions between fuel rods and spacer grids were also investigated using an experimental setup capable of measuring the force exchange and sliding relative motion at the interface of the fuel rods and spacer grids. The main conclusions from these tests indicate that the maximum amplitude of force and slippage at the boundary is directly related to the maximum amplitude of excitation and displacement experienced by rods. When dimple-less grids are used, lower amplitudes of interaction and sliding are reached. This reduction may be beneficial in mitigating fretting-related issues. Furthermore, in the time domain, evidence of detrimental phenomena—such as impacts and losses of contact—is also weaker with the novel Framatome dimple-less grid design.</p>","PeriodicalId":60486,"journal":{"name":"国际机械系统动力学学报(英文)","volume":"6 1","pages":"3-21"},"PeriodicalIF":3.6,"publicationDate":"2026-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/msd2.70058","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"147683756","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}