This paper presents KOU-III, a bipedal robot prototype featuring quadrotor-assisted locomotion. With three rotary joints per leg supplemented by four rotor actuators, the system integrates a total of 10 independent actuators. The objective is to enhance the robot’s motion performance through quadrotor assistance rather than achieving multimodal locomotion. In the prototype design, we improved the rigidity and compactness of the knee joint actuator by modifying the cantilever structure of the planetary carrier in the reducer to a bridge-like design. A simple motion control strategy was then developed to enable the robot to perform standing, walking, and jumping motions. Experimental results demonstrate that quadrotor assistance significantly improves both the stability and motion performance of the bipedal robot.
{"title":"KOU-III: A bipedal robot with quadrotor-assisted locomotion","authors":"Xianwu Zeng , Lishu Huang , Guoteng Zhang , Yibin Li","doi":"10.1016/j.mechatronics.2025.103310","DOIUrl":"10.1016/j.mechatronics.2025.103310","url":null,"abstract":"<div><div>This paper presents KOU-III, a bipedal robot prototype featuring quadrotor-assisted locomotion. With three rotary joints per leg supplemented by four rotor actuators, the system integrates a total of 10 independent actuators. The objective is to enhance the robot’s motion performance through quadrotor assistance rather than achieving multimodal locomotion. In the prototype design, we improved the rigidity and compactness of the knee joint actuator by modifying the cantilever structure of the planetary carrier in the reducer to a bridge-like design. A simple motion control strategy was then developed to enable the robot to perform standing, walking, and jumping motions. Experimental results demonstrate that quadrotor assistance significantly improves both the stability and motion performance of the bipedal robot.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"107 ","pages":"Article 103310"},"PeriodicalIF":3.1,"publicationDate":"2025-03-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143686955","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}
Pub Date : 2025-03-21DOI: 10.1016/j.mechatronics.2025.103309
Sil T. Spanjer, Hakan Köroğlu, Wouter B.J. Hakvoort
This paper proposes a novel method to optimize active vibration isolation systems based on -criteria using the dynamic error budgeting framework and constraints to guarantee robust stability. This method explicitly takes into account all noise sources and disturbances present in active vibration isolation systems. The dynamic error budget is interpreted as an optimal control problem with a specific set of input weighting functions, that are models of the input signal spectra. This is extended with constraints to guarantee stability robustness of the controller. The constrained optimization problem is solved in a structured control setting, with a non-smooth sub-gradient descent method. This is used to optimize the controller and system parameters simultaneously. First an explorative study is done for a single axis active vibration isolation system, and it is shown that the performance improves significantly relative to a passive vibration isolation system and a benchmark active vibration isolation system. The optimal control formulation is thereafter applied to an experimental system, and performance improvements are obtained by a factor 2.3–4.1 in internal deformation power, and 2.9–13.7 in sensitive payload acceleration power with respect to the previous controller based on engineering intuition.
{"title":"Dynamic error budgeting based robust system and control co-design for active vibration isolation systems","authors":"Sil T. Spanjer, Hakan Köroğlu, Wouter B.J. Hakvoort","doi":"10.1016/j.mechatronics.2025.103309","DOIUrl":"10.1016/j.mechatronics.2025.103309","url":null,"abstract":"<div><div>This paper proposes a novel method to optimize active vibration isolation systems based on <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span>-criteria using the dynamic error budgeting framework and <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> constraints to guarantee robust stability. This method explicitly takes into account all noise sources and disturbances present in active vibration isolation systems. The dynamic error budget is interpreted as an <span><math><msub><mrow><mi>H</mi></mrow><mrow><mn>2</mn></mrow></msub></math></span> optimal control problem with a specific set of input weighting functions, that are models of the input signal spectra. This is extended with <span><math><msub><mrow><mi>H</mi></mrow><mrow><mi>∞</mi></mrow></msub></math></span> constraints to guarantee stability robustness of the controller. The constrained optimization problem is solved in a structured control setting, with a non-smooth sub-gradient descent method. This is used to optimize the controller and system parameters simultaneously. First an explorative study is done for a single axis active vibration isolation system, and it is shown that the performance improves significantly relative to a passive vibration isolation system and a benchmark active vibration isolation system. The optimal control formulation is thereafter applied to an experimental system, and performance improvements are obtained by a factor 2.3–4.1 in internal deformation power, and 2.9–13.7 in sensitive payload acceleration power with respect to the previous controller based on engineering intuition.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"107 ","pages":"Article 103309"},"PeriodicalIF":3.1,"publicationDate":"2025-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143686954","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}
Pub Date : 2025-03-05DOI: 10.1016/j.mechatronics.2025.103308
Maíra M. da Silva , Emanuel A.R. Camacho , André R.R. Silva , Flávio D. Marques
Fish-like robots are used in various fields, such as environmental monitoring and underwater exploration. These devices are designed to emulate the motion of a real fish. They can have flexible bodies to mimic body/caudal-based locomotion patterns or fins to mimic median/paired fin-based locomotion patterns. Standard propulsion methods include oscillating fins, flapping tails, and body undulations. This work investigates a robotic fish with a flexible tail actuated by a Macro-Fiber Composite (MFC) pair in a bi-morph configuration. This device is designed to mimic body/caudal-based locomotion patterns; therefore, it should present propulsion capabilities due to its body undulations. These propulsion capabilities are assessed using the Unsteady Panel Method for different sinusoidal inputs. This method requires the device’s kinematics, which is derived using an analytical model based on the Euler–Bernoulli beam theory, considering the electro-mechanical coupling of the actuators. The mean thrust force derived using the Unsteady Panel Method is compared with the actual mean thrust acquired during an experimental campaign. The experimental and numerical results indicated that higher thrust forces can be achieved when the device is excited in its second resonance frequency. These results are in line with Lighthill’s findings.
{"title":"Thrust force assessment of a MFC-actuated tail-like robotic fish using Unsteady Panel Method","authors":"Maíra M. da Silva , Emanuel A.R. Camacho , André R.R. Silva , Flávio D. Marques","doi":"10.1016/j.mechatronics.2025.103308","DOIUrl":"10.1016/j.mechatronics.2025.103308","url":null,"abstract":"<div><div>Fish-like robots are used in various fields, such as environmental monitoring and underwater exploration. These devices are designed to emulate the motion of a real fish. They can have flexible bodies to mimic body/caudal-based locomotion patterns or fins to mimic median/paired fin-based locomotion patterns. Standard propulsion methods include oscillating fins, flapping tails, and body undulations. This work investigates a robotic fish with a flexible tail actuated by a Macro-Fiber Composite (MFC) pair in a bi-morph configuration. This device is designed to mimic body/caudal-based locomotion patterns; therefore, it should present propulsion capabilities due to its body undulations. These propulsion capabilities are assessed using the Unsteady Panel Method for different sinusoidal inputs. This method requires the device’s kinematics, which is derived using an analytical model based on the Euler–Bernoulli beam theory, considering the electro-mechanical coupling of the actuators. The mean thrust force derived using the Unsteady Panel Method is compared with the actual mean thrust acquired during an experimental campaign. The experimental and numerical results indicated that higher thrust forces can be achieved when the device is excited in its second resonance frequency. These results are in line with Lighthill’s findings.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"107 ","pages":"Article 103308"},"PeriodicalIF":3.1,"publicationDate":"2025-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143551239","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}
Pub Date : 2025-02-28DOI: 10.1016/j.mechatronics.2025.103307
Lac Van Duong
Conventional industrial robots lack the ability to work safely alongside humans due to their rigid components and absence of tactile sensation. To enhance the interaction capabilities of robots, this paper proposes a reflex arc that incorporates artificial robot skin. The proposed control strategy allows the robot to perform tasks while automatically and safely reacting to its environment, ensuring both safe and efficient operation. By utilizing tactile sensor skins, the external forces applied to the robot’s kinematic structure are estimated. Based on the robot’s kinematics, interaction joint torques are calculated using tactile force feedback, which generates reflex actions. These behaviors are modeled through a virtual mass–spring–damper (MSD) system applied to the robot’s joints. The proposed control strategy can be applied to any skin technology that provides a spatial distribution of force over the robot’s surface. Validation was conducted using a three-degree-of-freedom robot arm, demonstrating the method’s applicability to robot manipulators. A supplementary video demonstrating the proposed control strategy can be viewed at https://bit.ly/TactileReflex.
{"title":"A tactile reflex arc for physical human–robot interaction","authors":"Lac Van Duong","doi":"10.1016/j.mechatronics.2025.103307","DOIUrl":"10.1016/j.mechatronics.2025.103307","url":null,"abstract":"<div><div>Conventional industrial robots lack the ability to work safely alongside humans due to their rigid components and absence of tactile sensation. To enhance the interaction capabilities of robots, this paper proposes a reflex arc that incorporates artificial robot skin. The proposed control strategy allows the robot to perform tasks while automatically and safely reacting to its environment, ensuring both safe and efficient operation. By utilizing tactile sensor skins, the external forces applied to the robot’s kinematic structure are estimated. Based on the robot’s kinematics, interaction joint torques are calculated using tactile force feedback, which generates reflex actions. These behaviors are modeled through a virtual mass–spring–damper (MSD) system applied to the robot’s joints. The proposed control strategy can be applied to any skin technology that provides a spatial distribution of force over the robot’s surface. Validation was conducted using a three-degree-of-freedom robot arm, demonstrating the method’s applicability to robot manipulators. A supplementary video demonstrating the proposed control strategy can be viewed at <span><span>https://bit.ly/TactileReflex</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"107 ","pages":"Article 103307"},"PeriodicalIF":3.1,"publicationDate":"2025-02-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143510313","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}
Pub Date : 2025-02-27DOI: 10.1016/j.mechatronics.2025.103306
Diego Stutzer , André Lisibach , Martin Hofmann , Jürgen Burger , Thomas Niederhauser
Piezoelectric ultrasonic transducers are widely used and can offer great benefits, e.g., in ultrasonic machining, cleaning, and cutting. However, due to the resonance behavior of these transducers, feedback controllers that track the resonance frequency and regulate the vibration amplitude are often indispensable to ensure efficiency. This article presents a generic and efficient approach to designing proportional–integral controllers for piezoelectric ultrasonic transducers using the method of pole-zero cancellation based on a model of their vibration amplitude and phase dynamics. The parametric design method was experimentally applied to a piezoelectric ultrasonic periodontal scaler and compared with other tuning methods to demonstrate its advantages. The parametric design methodrequired ten times fewer experiments to parameterize the controller than the Ziegler–Nichols method, for instance, and resulted in a closed-loop system with better load rejection than the other tuning methods. The results document that the new method can considerably simplify and accelerate the development of performant feedback controllers for piezoelectric ultrasonic transducers.
{"title":"Parametric design of PI controllers for piezoelectric ultrasonic transducers","authors":"Diego Stutzer , André Lisibach , Martin Hofmann , Jürgen Burger , Thomas Niederhauser","doi":"10.1016/j.mechatronics.2025.103306","DOIUrl":"10.1016/j.mechatronics.2025.103306","url":null,"abstract":"<div><div>Piezoelectric ultrasonic transducers are widely used and can offer great benefits, e.g., in ultrasonic machining, cleaning, and cutting. However, due to the resonance behavior of these transducers, feedback controllers that track the resonance frequency and regulate the vibration amplitude are often indispensable to ensure efficiency. This article presents a generic and efficient approach to designing proportional–integral controllers for piezoelectric ultrasonic transducers using the method of pole-zero cancellation based on a model of their vibration amplitude and phase dynamics. The parametric design method was experimentally applied to a piezoelectric ultrasonic periodontal scaler and compared with other tuning methods to demonstrate its advantages. The parametric design methodrequired ten times fewer experiments to parameterize the controller than the Ziegler–Nichols method, for instance, and resulted in a closed-loop system with better load rejection than the other tuning methods. The results document that the new method can considerably simplify and accelerate the development of performant feedback controllers for piezoelectric ultrasonic transducers.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"107 ","pages":"Article 103306"},"PeriodicalIF":3.1,"publicationDate":"2025-02-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143510309","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}
Pub Date : 2025-02-13DOI: 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.
{"title":"Novel permanent magnet spherical motor driven by coaxial magnetic moment of rotating magnetic field","authors":"Yongshun Zhang, Gaoren Liu, Li Wang, Qing Shan, Zhenhu Liu","doi":"10.1016/j.mechatronics.2025.103298","DOIUrl":"10.1016/j.mechatronics.2025.103298","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"107 ","pages":"Article 103298"},"PeriodicalIF":3.1,"publicationDate":"2025-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143403537","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}
Pub Date : 2025-02-05DOI: 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}
Pub Date : 2025-01-25DOI: 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}
Pub Date : 2025-01-23DOI: 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.
{"title":"BotArena, a new affordable experimentation platform for multiple mobile robots","authors":"Franck Mercier , Rémy Guyonneau , Alain Godon","doi":"10.1016/j.mechatronics.2025.103295","DOIUrl":"10.1016/j.mechatronics.2025.103295","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"106 ","pages":"Article 103295"},"PeriodicalIF":3.1,"publicationDate":"2025-01-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143153986","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}
Pub Date : 2025-01-17DOI: 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.
{"title":"Detection of localized bearing faults in PMSMs by means of envelope analysis and wavelet packet transform using motor speed and current signals","authors":"Philipp Santer , Johannes Reinhard , Achim Schindler , Knut Graichen","doi":"10.1016/j.mechatronics.2025.103294","DOIUrl":"10.1016/j.mechatronics.2025.103294","url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":49842,"journal":{"name":"Mechatronics","volume":"106 ","pages":"Article 103294"},"PeriodicalIF":3.1,"publicationDate":"2025-01-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143153985","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}
扫码关注我们
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号