Mechatronics最新文献

英文中文

Novel permanent magnet spherical motor driven by coaxial magnetic moment of rotating magnetic field

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-02-13 DOI: 10.1016/j.mechatronics.2025.103298

Yongshun Zhang, Gaoren Liu, Li Wang, Qing Shan, Zhenhu Liu

Based on rotating magnetic coaxial effect of a suspended magnet rotor within the spatial universal rotating magnetic field(SURMF), a novel two-degree-of-freedom permanent magnet spherical motor (PMSM) and its lateral drive method using the rotating coaxial magnetic moment(RCMM) of the magnet rotor are proposed to address the complex electromagnetic driving structure, redundancy of control variables, complex coupled magnetic fields, and singularity of magnetic moments in current spherical motors. In terms of motor structure, the orthogonal kinematic decoupling and posture measuring of the PMSM output axis along yaw and pitch directions are realized by the universal follower mechanism (UFM) with a suspended magnet rotor. In terms of driving mechanism, with triaxial orthogonal combination coils (TOCC) as the stator, the orthogonal orientation decoupling control of the SURMF axis is adopted to realize the orthogonal decoupling of the RCMM in yaw and pitch directions, so as to realize the two-degree-of-freedom active drive of the PMSM by double decoupling of the magnetic moment and kinematics. For reducing magnetic moment orientation and motion path deviations caused by a slip angle, a compensation control method of the SURMF axis is proposed, which realizes the precise control of magnetic moment decoupling, ensures the precision and stability control of the motion path of the PMSM and lays a foundation for the application of the rotating coaxial driving theory of the PMSM.

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引用次数: 0

In-situ piezoelectric sensors for structural health monitoring with machine learning integration

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-02-05 DOI: 10.1016/j.mechatronics.2025.103297

Rogers K. Langat , Weikun Deng , Emmanuel De Luycker , Arthur Cantarel , Micky Rakotondrabe

This paper presents a novel approach to structural health monitoring (SHM) in aeronautical composite materials, leveraging embedded sensor data and advanced machine learning techniques for enhanced performance and simplified fault detection and identification. The study introduces an in-situ sensing system that integrates polymer-based piezoelectric sensors within the composite structure, enabling direct measurement and high-quality data acquisition. By employing a Gram angle field-based time-frequency transformation, the proposed method captures fault information from the in-situ measurements effectively. The study validates the effectiveness of the proposed approach by successfully completing diagnostic validation and identification of single and compound faults, such as scratches, holes, cuts, and other defects, using simple machine learning models. The findings of this study highlight the potential of combining in-situ sensing and advanced machine learning techniques for improved structural health monitoring in aeronautical composite materials.

{"title":"In-situ piezoelectric sensors for structural health monitoring with machine learning integration","authors":"Rogers K. Langat , Weikun Deng , Emmanuel De Luycker , Arthur Cantarel , Micky Rakotondrabe","doi":"10.1016/j.mechatronics.2025.103297","DOIUrl":"10.1016/j.mechatronics.2025.103297","url":null,"abstract":"<div><div>This paper presents a novel approach to structural health monitoring (SHM) in aeronautical composite materials, leveraging embedded sensor data and advanced machine learning techniques for enhanced performance and simplified fault detection and identification. The study introduces an in-situ sensing system that integrates polymer-based piezoelectric sensors within the composite structure, enabling direct measurement and high-quality data acquisition. By employing a Gram angle field-based time-frequency transformation, the proposed method captures fault information from the in-situ measurements effectively. The study validates the effectiveness of the proposed approach by successfully completing diagnostic validation and identification of single and compound faults, such as scratches, holes, cuts, and other defects, using simple machine learning models. The findings of this study highlight the potential of combining in-situ sensing and advanced machine learning techniques for improved structural health monitoring in aeronautical composite materials.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"106 ","pages":"Article 103297"},"PeriodicalIF":3.1,"publicationDate":"2025-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143153988","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

Enhancing capsule endoscopy with an orient-controllable internal actuation mechanism: Proof of concept

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-01-25 DOI: 10.1016/j.mechatronics.2025.103296

Zohreh Khodaee, Mohammad Reza Zakerzadeh, Mohammad Gafar Sedigh Damghanizadeh

Capsule endoscopy is a valuable medical tool for diagnosing gastrointestinal disorders by capturing images of the small intestine. However, capsule retention remains a significant challenge, leading to complications such as obstruction and surgery. This paper proposes an orient-controllable endoscopic capsule with internal actuation to overcome this issue. A dynamics model of the capsule is developed to analyze its orientation under the influence of internal electrical motors. This dynamics model is simulated in MATLAB Simulink software and compared with the system's simulation in Adams View software. The congruent outcomes substantiate the accuracy of the model. Additionally, the results affirm that the angular velocities of the internal rotors directly influence the capsule's orientation, showcasing the potential of utilizing internal motors to keep the capsule aligned with the intestine. We further investigate the resisting torques experienced by the capsule, considering viscoelastic stress from the intestine's deformation and hydrodynamics torque from the surrounding fluid. Incorporating PID controllers, the control system effectively adjusts the electrical voltage of the internal motors to achieve the desired orientation, which releases the capsule from retention. Experimental tests on a prototype capsule equipped with miniature DC motors reveal promising results, with the capsule rotating over 90° about its longitudinal and radial axes. The capsule's ability to rotate due to the activation of the internal motors highlights the potential application of the proposed internal actuation mechanism in controlling the capsule's orientation. The proposed orient-controllable capsule shows its capability to resolve capsule retention, paving the way for more precise and efficient capsule endoscopy applications. Furthermore, controlling the camera head of the capsule by controlling the capsule's orientation can increase the imaging quality.

{"title":"Enhancing capsule endoscopy with an orient-controllable internal actuation mechanism: Proof of concept","authors":"Zohreh Khodaee, Mohammad Reza Zakerzadeh, Mohammad Gafar Sedigh Damghanizadeh","doi":"10.1016/j.mechatronics.2025.103296","DOIUrl":"10.1016/j.mechatronics.2025.103296","url":null,"abstract":"<div><div>Capsule endoscopy is a valuable medical tool for diagnosing gastrointestinal disorders by capturing images of the small intestine. However, capsule retention remains a significant challenge, leading to complications such as obstruction and surgery. This paper proposes an orient-controllable endoscopic capsule with internal actuation to overcome this issue. A dynamics model of the capsule is developed to analyze its orientation under the influence of internal electrical motors. This dynamics model is simulated in MATLAB Simulink software and compared with the system's simulation in Adams View software. The congruent outcomes substantiate the accuracy of the model. Additionally, the results affirm that the angular velocities of the internal rotors directly influence the capsule's orientation, showcasing the potential of utilizing internal motors to keep the capsule aligned with the intestine. We further investigate the resisting torques experienced by the capsule, considering viscoelastic stress from the intestine's deformation and hydrodynamics torque from the surrounding fluid. Incorporating PID controllers, the control system effectively adjusts the electrical voltage of the internal motors to achieve the desired orientation, which releases the capsule from retention. Experimental tests on a prototype capsule equipped with miniature DC motors reveal promising results, with the capsule rotating over 90° about its longitudinal and radial axes. The capsule's ability to rotate due to the activation of the internal motors highlights the potential application of the proposed internal actuation mechanism in controlling the capsule's orientation. The proposed orient-controllable capsule shows its capability to resolve capsule retention, paving the way for more precise and efficient capsule endoscopy applications. Furthermore, controlling the camera head of the capsule by controlling the capsule's orientation can increase the imaging quality.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"106 ","pages":"Article 103296"},"PeriodicalIF":3.1,"publicationDate":"2025-01-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143153987","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

BotArena, a new affordable experimentation platform for multiple mobile robots

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-01-23 DOI: 10.1016/j.mechatronics.2025.103295

Franck Mercier , Rémy Guyonneau , Alain Godon

This paper presents the design of an experimental hardware-in-the-loop platform for multiple mobile robots that meets three criteria: cost reduction, modularity, and versatility. Inspired by structures like the Robotarium, the BotArena aims to be a low-cost, open source, and open hardware version of an arena for multiple mobile robot experiments. The arena was mainly designed with a focus on research applications, to allow the implementation of algorithms and their experimental evaluations. However, it was also designed with applicability to educational applications, for the training of future engineers in swarm robotics techniques and methods. Finally, it was also designed for use in science popularization events. In a nutshell, this platform is intended to be inclusive and appealing for introducing multiple mobile robot concepts. The paper details the design, realization, and underlying principles of this tool. Finally, the performance of the arena (response time and localization accuracy) is quantified and discussed, and an ant-inspired application is presented.

引用次数: 0

Detection of localized bearing faults in PMSMs by means of envelope analysis and wavelet packet transform using motor speed and current signals

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

Pub Date : 2025-01-17 DOI: 10.1016/j.mechatronics.2025.103294

Philipp Santer , Johannes Reinhard , Achim Schindler , Knut Graichen

The reliability of machinery plays an essential role in industrial practice, which includes the growing topic of fault detection for electric motors. Since permanent magnet synchronous motor (PMSMs) usually have built-in current and speed sensors, it is advantageous to use them for fault detection purposes as they enable a non-invasive and cost-effective implementation. Focusing on speed and current signals, two methods are developed for the detection of localized bearing faults in this paper. They leverage envelope analysis and the wavelet packet transform for feature extraction before classification is performed using a support vector machine. In addition, properties of vibration signals and built-in sensor signals are discussed and important similarities are highlighted. The effectiveness of the two methods is demonstrated in the analysis of experimental measurements, where non-artificial localized bearing faults were investigated by means of the phase currents, the d-current and q-current as well as the speed signal along with a comparison to vibration signal analysis. Both methods are shown to be effective for bearing fault diagnosis and exhibit higher detection accuracies than comparable approaches, with the best results being achieved using the q-current. This highlights the viability of built-in sensors in this context.

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引用次数: 0

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

IF 3.1 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

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

Zhaopeng Jin, Yanzhi Zhao, Yue Sun, Yajun Liu

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.

{"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 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

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

Yuehua Wang , Yanheng Liu , Taegyun Kim

This study presents the development of a compact, lightweight automatic robot for preformed armor rod installation, designed to enhance efficiency and adaptability in OPGW maintenance. The robot features a simplified structure that enables simultaneous mobility and rod winding, eliminating the need to traverse obstacles on wires and significantly reducing repair time. The design incorporates modular components, including a disk chuck that can be tailored to various armor rod specifications and easily replaced, ensuring compatibility with different OPGW sizes and rod lengths. The installation process is performed cyclically, minimizing the robot’s volume while maintaining versatility and operational precision. Through theoretical analysis and experimental validation, the optimal relationship between the rotational speeds of the rod and lead screw was determined. The robot demonstrated high work efficiency with an overall installation time of approximately 25 min, requiring no manual intervention.

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 Q2 AUTOMATION & CONTROL SYSTEMS

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

Increasing performance requirements in high-precision mechatronic systems lead to a situation where both multivariable and sampled-data implementation aspects need to be addressed. The aim of this paper is to develop a design framework for a multi-input multi-output feedforward controller to improve continuous-time tracking performance through learning. The sampled-data feedforward controller is designed with physically interpretable tuning parameters using a multirate zero-order-hold differentiator. The developed approach enables interaction compensation for multi-input multi-output systems and the feedforward controller parameters are updated through learning. The performance improvement is experimentally validated in a multi-input multi-output motion system compared to the conventional feedforward controllers.

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 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

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

Max Bolderman , Mircea Lazar , Hans Butler

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).

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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 Q2 AUTOMATION & CONTROL SYSTEMS

Mechatronics

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

Pengxu Li , Yongfu Wang , Jing Zhao , Panshuo Li

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

H_{\infty}

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.

{"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

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