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Polymers and papers, which exhibit piezoelectricity, find a wide range of applications in the industry. Ever since the discovery of PVDF, piezo polymers and papers have been widely used for sensor and actuator design. The direct piezoelectric effect has been used for sensor design, whereas the inverse piezoelectric effect has been applied for actuator design. Piezo polymers and papers have the advantages of mechanical flexibility, lower fabrication cost and faster processing over commonly used piezoelectric materials, such as PZT, BaTiO3. In addition, many polymer and paper materials are considered biocompatible and can be used in bio applications. In the last 20 years, heterostructural materials, such as polymer composites and hybrid paper, have received a lot of attention since they combine the flexibility of polymer or paper, and excellent pyroelectric and piezoelectric properties of ceramics. This paper gives an overview of piezoelectric polymers and papers based on their operating principle. Main categories of piezoelectric polymers and papers are discussed with a focus on their materials and fabrication techniques. Applications of piezoelectric polymers and papers in different areas are also presented.

Electro-active paper (EAPap) is a cellulose-based smart material that has shown promising results in a variety of smart applications (e.g., vibration sensor, piezo-speaker, bending actuator) with the merits of being flexible, lightweight, fracture tolerant, biodegradable, naturally abundant, cheap, biocompatible, and with the ability to form hybrid nanocomposites. This paper presents a review of the characterization and application of EAPap as a flexible mechanical vibration/strain sensor, bending actuator, and vibration energy harvester. The working mechanism of EAPap is explained along with the various parameters and factors that influence the sensing, actuation, and energy harvesting capabilities of EAPap. Although the piezoelectricity of EAPap is comparable to that of commercially available polyvinylidene fluoride (PVDF), EAPap has the preferable merits in terms of natural abundance and ample capacity of chemical modification. The article would provide guidelines for the characterization and application of EAPap in mechanical sensing, actuation, and vibration energy scavenging, along with the possible limitations and future research prospects.

We report on the recent progress and development of research into cellulose-based electro-active paper for bending actuators, bioelectronics devices, and electromechanical transducers. The cellulose electro-active paper is characterized in terms of its biodegradability, chirality, ample chemically modifying capacity, light weight, actuation capability, and ability to form hybrid nanocomposites. The mechanical, electrical, and chemical characterizations of the cellulose-based electro-active paper and its hybrid composites such as blends or coatings with synthetic polymers, biopolymers, carbon nanotubes, chitosan, and metal oxides, are explained. In addition, the integration of cellulose electro-active paper is highlighted to form various functional devices including but not limited to bending actuators, flexible speaker, strain sensors, energy harvesting transducers, biosensors, chemical sensors and transistors for electronic applications. The frontiers in cellulose paper devices are reviewed together with the strategies and perspectives of cellulose electro-active paper and cellulose nanocomposite research and applications.

Wireless sensor/actuator networks (WSANs) are emerging rapidly as a new generation of sensor networks. Despite intensive research in wireless sensor networks (WSNs), limited work has been found in the open literature in the field of WSANs. In particular, quality-of-service (QoS) management in WSANs remains an important issue yet to be investigated. As an attempt in this direction, this paper develops a fuzzy logic control based QoS management (FLC-QM) scheme for WSANs with constrained resources and in dynamic and unpredictable environments. Taking advantage of the feedback control technology, this scheme deals with the impact of unpredictable changes in traffic load on the QoS of WSANs. It utilizes a fuzzy logic controller inside each source sensor node to adapt sampling period to the deadline miss ratio associated with data transmission from the sensor to the actuator. The deadline miss ratio is maintained at a pre-determined desired level so that the required QoS can be achieved. The FLC-QM has the advantages of generality, scalability, and simplicity. Simulation results show that the FLC-QM can provide WSANs with QoS support., Comment: 13 pages, 8 figures; Open Access at http://www.mdpi.org/sensors

In order to solve the trajectory tracking task in a wheeled mobile robot (WMR), a dynamic three-level controller is presented in this paper. The controller considers the mechanical structure, actuators, and power stage subsystems. Such a controller is designed as follows: At the high level is a dynamic control for the WMR (differential drive type). At the medium level is a PI current control for the actuators (DC motors). Lastly, at the low level is a differential flatness-based control for the power stage (DC/DC Buck power converters). The feasibility, robustness, and performance in closed-loop of the proposed controller are validated on a DDWMR prototype through Matlab-Simulink, the real-time interface ControlDesk, and a DS1104 board. The obtained results are experimentally assessed with a hierarchical tracking controller, recently reported in literature, that was also designed on the basis of the mechanical structure, actuators, and power stage subsystems. Although both controllers are robust when parametric disturbances are taken into account, the dynamic three-level tracking controller presented in this paper is better than the hierarchical tracking controller reported in literature.

Trans-radial prosthesis is a wearable device that intends to help amputees under the elbow to replace the function of the missing anatomical segment that resembles an actual human hand. However, there are some challenging aspects faced mainly on the robot hand structural design itself. Improvements are needed as this is closely related to structure efficiency. This paper proposes a robot hand structure with improved features (four-bar linkage mechanism) to overcome the deficiency of using the cable-driven actuated mechanism that leads to less structure durability and inaccurate motion range. Our proposed robot hand structure also took into account the existing design problems such as bulky structure, unindividual actuated finger, incomplete fingers and a lack of finger joints compared to the actual finger in its design. This paper presents the improvements achieved by applying the proposed design such as the use of a four-bar linkage mechanism instead of using the cable-driven mechanism, the size of an average human hand, five-fingers with completed joints where each finger is moved by motor individually, joint protection using a mechanical stopper, detachable finger structure from the palm frame, a structure that has sufficient durability for everyday use and an easy to fabricate structure using 3D printing technology. The four-bar linkage mechanism is the use of the solid linkage that connects the actuator with the structure to allow the structure to move. The durability was investigated using static analysis simulation. The structural details and simulation results were validated through motion capture analysis and load test. The motion analyses towards the 3D printed robot structure show 70&ndash, 98% similar motion range capability to the designed structure in the CAD software, and it can withstand up to 1.6 kg load in the simulation and the real test. The improved robot hand structure with optimum durability for prosthetic uses was successfully developed.

The paper is devoted to the problem of estimating simultaneously states, as well as actuator and sensor faults for Takagi&ndash, Sugeno systems. The proposed scheme is intended to cope with multiple sensor and actuator faults. To achieve such a goal, the original Takagi&ndash, Sugeno system is transformed into a descriptor one containing all state and fault variables within an extended state vector. Moreover, to facilitate the overall design procedure an auxiliary fault vector is introduced. In comparison to the approaches proposed in the literature, a usual restrictive assumption concerning fixed fault rate of change is removed. Finally, the robust convergence of the whole observer is guaranteed by the so-called quadratic boundedness approach which assumes that process and measurement uncertainties are unknown but bounded within an ellipsoid. The last part of the paper portrays an exemplary application concerning a nonlinear twin-rotor system.

This paper describes the design and analysis of a small-sized and high thrust electromagnetic actuator. The proposed actuator is supposed to be used for application control of the hotmelt adhesive. The hotmelt has different characteristics for each material and the electromagnetic actuator is required variable characteristics. However, the problem seems to lie in the fact that it is necessary to remake another mold again to change the characteristics of the conventional electromagnetic actuator. Therefore, this paper presents small-sized electromagnetic actuator called a basic model that can stack it in the axial direction or in the radial direction. As the analysis comparison at the same size, the characteristics of conventional two serial model which stack two basic models in the axial direction and proposed three serial models have been compared by three-dimensional finite element method. In the proposed model, characteristics have been improved by reducing the core volume and increasing the number of stacks in the basic model from the viewpoint of magnetic flux density. In addition, various electromagnetic actuators that stack basic models in the axial direction or in the radial direction have been analyzed. The analysis results have been clearly shown as characteristics mapping and it has indicated that the proposed electromagnetic actuator can be constructed easily by stacking the basic model.

The smart robot is playing an increasingly important role in the social economy, and multi-robot systems will be an important development in robotics. With smart sensing systems, the communications between sensors, actuators, and edge computing systems and robots are prone to be attacked due to the highly dynamic and distributed environment. Since smart robots are often distributed in open environments, as well as due to their limited hardware resources and security protection capabilities, the security requirements of their keys cannot be met with traditional key distribution algorithms. In this paper, we propose a new mechanism of key establishment based on high-order polynomials to ensure the safe key generation and key distribution. Experiments show that the key establishment mechanism proposed in this paper guarantees the security of keys, its storage cost and communication cost are smaller than state-of-the-art mechanisms, and it allows robot components to join and leave the network dynamically, which is more suitable for multi-robot systems.

In order to provide a simplified and low-cost solution of the terminal for a distributed actuation system, this paper proposes an electro-hydrostatic actuator (EHA) based on the linear drive principle. The proposed actuator is directly driven by a linear pump with a collaborative rectification mechanism, whose performance relies on the collaboration of the internal two units. A pair of linear oscillating motors are employed to drive the two pump units respectively. The control of the actuator is based on the modulation of the oscillating amplitude, frequency, and phase difference of the two motors. The advantage of this actuator is that no more valve control is needed to rectify the linear pump besides the high efficiency of the direct pump drive. In this paper, both schematic and detailed structure of the actuator is presented. The kinematic and dynamic characteristics are analyzed and modeled, based on which the control method is proposed. The experiments verify the validity of the actuator structure and control.

The paper presents a review of some of the significant research done on 3D printed mold-based sensors performed in recent times. The utilization of the master molds to fabricate the different parts of the sensing prototypes have been followed for quite some time due to certain distinct advantages. Some of them are easy template preparation, easy customization of the developed products, quick fabrication, and minimized electronic waste. The paper explains the different kinds of sensors and actuators that have been developed using this technique, based on their varied structural dimensions, processed raw materials, designing, and product testing. These differences in the attributes were based on their individualistic application. Furthermore, some of the challenges related to the existing sensors and their possible respective solutions have also been mentioned in the paper. Finally, a market survey has been provided, stating the estimated increase in the annual growth of 3D printed sensors. It also states the type of 3D printing that has been preferred over the years, along with the range of sensors, and their related applications. Published version

Wireless data communication and telemetry during drilling deep oil and gas wells are important enablers for safe and timely drilling operations. The transmission of information through drill strings and pipes using sound waves is a useful and practical approach. However, given the limited available bandwidth, transmission rates are typically smaller than what is needed. In this paper, a new method and system are proposed to increase the transmission rate over the same bandwidth, by deploying more than one actuator. Upon using multiple actuators, several data streams can be transmitted simultaneously. This increases the data rate without the need for additional bandwidth. The experimental results of a testbed with two actuators are presented, where the transmission rate is doubled with no bandwidth increase. A strain sensor receiver and accelerometer receivers are used to separate and demodulate the two data streams. It is demonstrated that it is possible to recover the data in the new faster system benefiting from two actuators, while having about the same bit error probability performance as a one-actuator system. Various combinations of strain and acceleration sensors are considered at the receive side. Due to some properties of strain channels (e.g., smaller delay spreads and their less-frequency-selective behavior) presented in this paper, it appears that a strain sensor receiver and an accelerometer receiver together can offer a good performance when separating and demodulating the two actuators&rsquo, data in the testbed. Overall, the experimental results from the proposed system suggest that upon using more than one actuator, it is feasible to increase the data rate over the limited bandwidth of pipes and drill strings.

Modular bridge expansion joints (MBEJs) are commonly used in bridges and are often subjected to fatigue damages, which necessitate fatigue monitoring of MBEJs to ensure the reliable operation of the bridges. In this paper, a stress wave based active sensing approach using piezoceramic transducers is developed to monitor the fatigue damage of MBEJ. A MBEJ involves mainly center beam, edge beam, support bar, support box, sliding bearing, sliding spring, elastomeric strip seal, full-penetration weld and reinforcing plate. In practice, for a MBEJ, the part that is most prone to fatigue damage is the full-penetration weld between the center beam and the support bar. In this paper, a specimen, which is the full-scale center-beam/support-bar (CB/SB) assembly, was designed and fabricated to facilitate the experimental study. The assembly mainly includes center beam, support bar, reinforcing plate, and full-penetration weld. The lead zirconate titanate (PZT) transducer bonded on the support bar was used as the actuator and the PZT transducer mounted on the center beam was as the sensor. Dial indicators were utilized to measure the vertical displacement of the center beam. Two series of tests, including static test, and fatigue test, were performed on the specimen in an alternating fashion. Based on the number of cyclic loading, the experiment was divided into six different stages: 0th cycle (the healthy state), 0.8 million cycles, 1.6 million cycles, 2.4 million cycles, 3.2 million cycles, and 4 million cycles. The signals received by the PZT sensor were analyzed with the help of wavelet packet analysis. In addition, the structure stiffness also was considered as a comparative approach in this paper. Experimental results show that during the fatigue test, the structure stiffness decreases with the number of cycle loading. However, the method can only obtain the fatigue damage impact on the entire structure, and cannot determine the fatigue damage degree of a certain weld. On the other hand, the proposed method can accurately monitor the fatigue damage degree of full-penetration welds. The research results show that the developed piezoceramic enabled active sensing approach can monitor and estimate the fatigue damage in MBEJ in real-time.

The piezoelectric sensor-actuator plays an important role in micro high-precision dynamic systems such as medical robots and micro grippers. These mechanisms need high-precision position control, while the size of the sensor and actuator should be as small as possible. For this paper, we designed and manufactured a structure-integrated piezoelectric sensor-actuator and proposed its PID (Proportion Integral Differential) control system based on the dynamic hysteresis nonlinear model and the inverse model. Through simplifying the structure of the piezoelectric sensor-actuator by the centralized parameter method, this paper establishes its dynamic model and explores the input–output transfer function by taking the relationship between the output force and displacement as the medium. The experiment shows the maximum distance of the hysteresis curve is 0.26 μm. By parsing the hysteresis curve, this paper presents a dynamic hysteresis nonlinear model and its inverse model based on a 0.5 Hz quasi-static model and linear transfer function. Simulation results show that the accuracy of the static model is higher than that of the dynamic model when the frequency is 0.5 Hz, but the compensation accuracy of the dynamic model is obviously better than that of the static model with the increase of the frequency. This paper also proposes a control system for the sensor-actuator by means of the inverse model. The simulation results indicate that the output root mean square error was reduced to one-quarter of the original, which proves that the structure-integrated piezoelectric sensor-actuator and its control system have a great significance for signal sensing and output control of micro high-precision dynamic systems.

The paper deals with theoretical and experimental studies for the development of a self-powered structural health monitoring (SHM) system using macro-fiber composite (MFC) patches. The basic idea is to integrate the actuation, sensing, and energy harvesting capabilities of the MFC patches in a SHM system operating in different regimes. As an example, during flight, under the effects of normal structural vibrations, the patches can work as energy harvesters by maintaining or restoring the battery charge of the stand-by SHM electronic board, on the other hand, if relevant/abnormal loadings are applied, or if local faults produce a noticeable stiffness variation of the monitored component, the patches can act as sensors for the power-up SHM board. During maintenance, the patches can then work as actuators, to stress the structure with pre-defined load profiles, as well as sensors, to monitor the structural response. In this paper, the investigation, based on the electromechanical impedance technique, is carried out on a system prototype made of a cantilevered composite laminate with six MFC patches. A high-fidelity nonlinear model of the system, including the piezoelectric hysteresis of the patches and three vibration modes of the laminate beam, is presented and validated with experiments. The results support the potential feasibility of the system, pointing out that the energy storage can be used for recharging a 3V-65mAh Li-ion battery, suitable for low-power electronic boards. The model is finally used to characterize a condition-monitoring algorithm in terms of false alarms rejection and vulnerability to dormant faults, by simulating built-in tests to be performed during maintenance.

Piezoelectric ultrasonic transducers have the potential to operate as both a sensor and as an actuator of ultrasonic waves. Currently, manufactured transducers operate effectively over narrow bandwidths as a result of their regular structures which incorporate a single length scale. To increase the operational bandwidth of these devices, consideration has been given in the literature to the implementation of designs which contain a range of length scales. In this paper, a mathematical model of a novel Sierpinski tetrix fractal-inspired transducer for sensor applications is presented. To accompany the growing body of research based on fractal-inspired transducers, this paper offers the first sensor design based on a three-dimensional fractal. The three-dimensional model reduces to an effective one-dimensional model by allowing for a number of assumptions of the propagating wave in the fractal lattice. The reception sensitivity of the sensor is investigated. Comparisons of reception force response (RFR) are performed between this novel design along with a previously investigated Sierpinski gasket-inspired device and standard Euclidean design. The results indicate that the proposed device surpasses traditional design sensors.

Advances in medicine and improvements in life quality has led to an increase in the life expectancy of the general population. An ageing world population have placed demands on the use of assistive technology and, in particular, towards novel healthcare devices and sensors. Besides the electromagnetic field immunity, polymer optical fiber (POF) sensors have additional advantages due to their material features such as high flexibility, lower Young’s modulus (enabling high sensitivity for mechanical parameters), higher elastic limits, and impact resistance. Such advantages are well-aligned with the instrumentation requirements of many healthcare devices and in movement analysis. Aiming at these advantages, this review paper presents the state-of-the-art developments of POF sensors for healthcare applications. A plethora of healthcare applications are discussed, which include movement analysis, physiological parameters monitoring, instrumented insoles, as well as instrumentation of healthcare robotic devices such as exoskeletons, smart walkers, actuators, prostheses, and orthosis. This review paper shows the feasibility of using POF sensors in healthcare applications and, due to the aforementioned advantages, it is possible to envisage a further widespread use of such sensors in this research field in the next few years.

The main objective of this paper is to develop an actuator and sensor fault estimation framework taking into account various uncertainty sources. In particular, these are divided into three groups: sensor measurement noise, process-external exogenous disturbances, as well as unknown fault dynamics. Unlike the approaches presented in the literature, here they are not processed in the same way but treated separately in a suitably tailored fashion. Finally, the approach resolves to minimizing their effect on the fault estimation error in either the H 2 or H ∞ sense. As a result, a mixed performance–based actuator fault estimation framework is obtained, along with its convergence conditions. The final part of the paper presents performance analysis results obtained for a DC servo-motor. Subsequently, another three-tank-system-based example is presented. In both cases, the proposed approach is compared with an alternative one, which clearly exhibits its superiority.

In this paper we present a complete spike-based architecture: from a Dynamic Vision Sensor (retina) to a stereo head robotic platform. The aim of this research is to reproduce intended movements performed by humans taking into account as many features as possible from the biological point of view. This paper fills the gap between current spike silicon sensors and robotic actuators by applying a spike processing strategy to the data flows in real time. The architecture is divided into layers: the retina, visual information processing, the trajectory generator layer which uses a neuroinspired algorithm (SVITE) that can be replicated into as many times as DoF the robot has; and finally the actuation layer to supply the spikes to the robot (using PFM). All the layers do their tasks in a spike-processing mode, and they communicate each other through the neuro-inspired AER protocol. The open-loop controller is implemented on FPGA using AER interfaces developed by RTC Lab. Experimental results reveal the viability of this spike-based controller. Two main advantages are: low hardware resources (2% of a Xilinx Spartan 6) and power requirements (3.4 W) to control a robot with a high number of DoF (up to 100 for a Xilinx Spartan 6). It also evidences the suitable use of AER as a communication protocol between processing and actuation.

Mobile multirobot systems play an increasing role in many disciplines. Their capabilities can be used, e.g., to transport workpieces in industrial applications or to support operational forces in search and rescue scenarios, among many others. Depending on the respective application, the hardware design and accompanying software of mobile robots are of various forms, especially for integrating different sensors and actuators. Concerning this design, robots of one system compared to each other can be classified to exclusively be either homogeneous or heterogeneous, both resulting in different system properties. While homogeneously configured systems are known to be robust against failures through redundancy but are highly specialized for specific use cases, heterogeneously designed systems can be used for a broad range of applications but suffer from their specialization, i.e., they can only hardly compensate for the failure of one specialist. Up to now, there has been no known approach aiming to unify the benefits of both these types of system. In this paper, we present our approach to filling this gap by introducing a reference architecture for mobile robots that defines the interplay of all necessary technologies for achieving this goal. We introduce the class of robot systems implementing this architecture as multipotent systems that bring together the benefits of both system classes, enabling homogeneously designed robots to become heterogeneous specialists at runtime. When many of these robots work together, we call the structure of this cooperation an ensemble. To achieve multipotent ensembles, we also integrate reconfigurable and self-descriptive hardware (i.e., sensors and actuators) in this architecture, which can be freely combined to change the capabilities of robots at runtime. Because typically a high degree of autonomy in such systems is a prerequisite for their practical usage, we also present the integration of necessary mechanisms and algorithms for achieving the systems&rsquo, multipotency. We already achieved the first results with robots implementing our approach of multipotent systems in real-world experiments as well as in a simulation environment, which we present in this paper.

The presented paper describes accurate distance measurement for a field-sensed magnetic suspension system. The proximity measurement is based on a Hall effect sensor. The proximity sensor is installed directly on the lower surface of the electro-magnet, which means that it is very sensitive to external magnetic influences and disturbances. External disturbances interfere with the information signal and reduce the usability and reliability of the proximity measurements and, consequently, the whole application operation. A sensor fusion algorithm is deployed for the aforementioned reasons. The sensor fusion algorithm is based on the Unscented Kalman Filter, where a nonlinear dynamic model was derived with the Finite Element Modelling approach. The advantage of such modelling is a more accurate dynamic model parameter estimation, especially in the case when the real structure, materials and dimensions of the real-time application are known. The novelty of the paper is the design of a compact electro-magnetic actuator with a built-in low cost proximity sensor for accurate proximity measurement of the magnetic object. The paper successively presents a modelling procedure with the finite element method, design and parameter settings of a sensor fusion algorithm with Unscented Kalman Filter and, finally, the implementation procedure and results of real-time operation.

Research on joint torque reduction in robot manipulators has received considerable attention in recent years. Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately will result in a safe operation without overloading the joint actuators. This paper presents a mechanical design for a three dimensional planar redundant manipulator with the advantage of the reduction in the number of motors needed to control the joint angle, leading to a decrease in the weight of the manipulator. Many efforts have been focused on decreasing the weight of manipulators, such as using lightweight joints design or setting the actuators at the base of the manipulator and using tendons for the transmission of power to these joints. By using the design of this paper, only three motors are needed to control any n degrees of freedom in a three dimensional planar redundant manipulator instead of n motors. Therefore this design is very effective to decrease the weight of the manipulator as well as the number of motors needed to control the manipulator. In this paper, the torque of all the joints are calculated for the proposed manipulator (with three motors) and the conventional three dimensional planar manipulator (with one motor for each degree of freedom) to show the effectiveness of the proposed manipulator for decreasing the weight of the manipulator and minimizing driving joint torques.

Integrating the advantage of magnetic bearings with a double gimble control moment gyroscope (DGCMG), a magnetically suspended DGCMG (MSDGCMG) is an ideal actuator in high-precision, long life, and rapid maneuver attitude control systems. The work presented here mainly focuses on performance testing of a MSDGCMG independently developed by Beihang University, based on the single axis air bearing table. In this paper, taking into sufficient consideration to the moving-gimbal effects and the response bandwidth limit of the gimbal, a special MSDGCMG steering law is proposed subject to the limits of gimbal angle rate and angle acceleration. Finally, multiple experiments are carried out, with different MSDGCMG angular momenta as well as different desired attitude angles. The experimental results indicate that the MSDGCMG has a good gimbal angle rate and output torque tracking capabilities, and that the attitude stability with MSDGCMG as actuator is superior to 10−3°/s. The MSDGCMG performance testing in this paper, carried out under moving-base condition, will offer a technique base for the future research and application of MSDGCMGs.

This paper focuses on an issue involving robust adaptive path following for the uncertain underactuated unmanned surface vehicle with time-varying large sideslips angle and actuator saturation. An improved line-of-sight guidance law based on a reduced-order extended state observer is proposed to address the large sideslip angle that occurs in practical navigation. Next, the finite-time disturbances observer is designed by considering the perturbations parameter of the model and the unknown disturbances of the external environment as the lumped disturbances. Then, an adaptive term is introduced into Fast Non-singular Terminal Sliding Mode Control to design the path following controllers. Finally, considering the saturation of actuator, an auxiliary dynamic system is introduced. By selecting the appropriate design parameters, all the signals of the whole path following a closed-loop system can be ultimately bounded. Real-time control of path following can be achieved by transferring data from shipborne sensors such as GPS, combined inertial guidance and anemoclinograph to the Fast Non-singular Terminal Sliding Mode controller. Two examples as comparisons were carried out to demonstrate the validity of the proposed control approach.

With the development of more/all electric aircraft, replacement of the traditional hydraulic servo actuator (HSA) with an electromechanical actuator (EMA) is becoming increasingly attractive in the aerospace field. This paper takes an EMA for a trimmable horizontal stabilizer as an example and focuses on how to establish a system model with an appropriate level of complexity to support the model-based system engineering (MBSE) approach. To distinguish the nonlinear effects that dominate the required system performance, an incremental approach is proposed to progressively introduce individual nonlinear effects into models with different complexity levels. Considering the special design and working principle of the mechanical power transmission function for this actuator, the nonlinear dynamics, including friction and backlash from the no-back mechanism, and the nonlinear compliance effect from the mechanical load path are mainly taken into consideration. The modelling principles for each effect are addressed in detail and the parameter identification method is utilized to model these nonlinear effects realistically. Finally, the responses from each model and experimental results are compared to analyze and verify how each individual nonlinearity affects the system’s performance.

Haptic technology allows us to experience tactile and force sensations without the need to expose ourselves to specific environments. It also allows a more immersive experience with virtual reality devices. This paper presents the development of a soft haptic glove for kinesthetic perception. It is lightweight and soft to allow for a more natural hand movement. This prototype actuates two fingers with two shape memory alloy (SMA) springs. Finite element (FE) simulations of the spring have been carried out to set the dimensions of the actuators. Flexible stretch sensors provide feedback to the system to calculate the tension of the cables attached to the fingers. The control can generate several recognizable levels of force for any hand position since the objects to be picked up can vary in weight and dimension. The glove can generate three levels of force (100, 200 and 300 g) to evaluate more easily the proper functioning. We realized tests on 15 volunteers simulating forces in various order after a quick training. We also asked volunteers about the experience for comfort, global experience and simplicity). Results were satisfactory in both aspects: the glove fulfilled its function, and the users were comfortable with it.

The piezoelectric MEMS (micro-electro-mechanical systems) scanning mirrors are in a great demand for numerous optoelectronic applications. However, the existing actuation strategies are severely limited for poor compatibility with CMOS process, non-linear control, insufficient mirror size and small angular travel. In this paper, a novel, particularly efficient ScAlN-based piezoelectric MEMS mirror with a pupil size of 10 mm is presented. The MEMS mirror consists of a reflection mirror plate, four meandering springs with mechanical rotation transformation, and eight right-angle trapezoidal actuators designed in Union Jack-shaped form. Theoretical modeling, simulations and comparative analysis have been investigated for optimizing two different device designs. For Device A with a 1 mm-length square mirror, the orthogonal and diagonal static tilting angles are ±36.2°@200 VDC and ±36.2°@180 VDC, respectively, and the dynamic tilting angles increases linearly with the driving voltage. Device B with a 10 mm-length square mirror provides the accessible tilting angles of ±36.0°@200 VDC and ±35.9°@180 VDC for horizontal and diagonal actuations, respectively. In the dynamic actuation regime, the orthogonal and diagonal tilting angles at 10 Hz are ±8.1°/Vpp and ±8.9°/Vpp, respectively. This work confirmed that the Union Jack-shaped arrangement of trapezoidal actuators is a promising option for designing powerful optical devices.

This paper proposes a multipurpose reinforcement learning based low-level multirotor unmanned aerial vehicles control structure constructed using neural networks with model-free training. Other low-level reinforcement learning controllers developed in studies have only been applicable to a model-specific and physical-parameter-specific multirotor, and time-consuming training is required when switching to a different vehicle. We use a 6-degree-of-freedom dynamic model combining acceleration-based control from the policy neural network to overcome these problems. The UAV automatically learns the maneuver by an end-to-end neural network from fusion states to acceleration command. The state estimation is performed using the data from on-board sensors and motion capture. The motion capture system provides spatial position information and a multisensory fusion framework fuses the measurement from the onboard inertia measurement units for compensating the time delay and low update frequency of the capture system. Without requiring expert demonstration, the trained control policy implemented using an improved algorithm can be applied to various multirotors with the output directly mapped to actuators. The algorithm’s ability to control multirotors in the hovering and the tracking task is evaluated. Through simulation and actual experiments, we demonstrate the flight control with a quadrotor and hexrotor by using the trained policy. With the same policy, we verify that we can stabilize the quadrotor and hexrotor in the air under random initial states.

Exoskeletons are the mechanical systems whose operation is carried out in close cooperation with the human body. In this paper, the authors describe a mathematical model of the hydraulic exoskeleton of a lower limb. The coordinates of characteristic points of the exoskeleton in the sagittal plane as a function of user height are presented. The mathematical models, kinematics, and kinetics equations were determined. The masses of the actuators and their dimensions were selected based on catalog data. The force distribution in the wearable system during the squat is shown. The proposed models allowed us to determine the trajectory of individual points of the exoskeleton and to determine the forces in hydraulic cylinders that are necessary to perform a specific displacement. The simulation results show that the joint moments depend linearly on actuator forces. The dynamics equations of the wearable system are non-linear. The inertia of the system depends on the junction variables and it proves that there are dynamic couplings between the individual axes of the exoskeleton.

The vibration isolation system is now indispensable to high-precision instruments and equipment, which can provide a low vibration environment to ensure performance. However, the disturbance with variable frequency poses a challenge to the vibration isolation system, resulting in precision reduction of dynamic modeling. This paper presents a velocity self-sensing method and experimental verification of a vibration isolation system. A self-sensing actuator is designed to isolate the vibration with varying frequencies according to the dynamic vibration absorber structure. The mechanical structure of the actuator is illustrated, and the dynamic model is derived. Then a self-sensing method is proposed to adjust the anti-resonance frequency of the system without velocity sensors, which can also reduce the complexity of the system and prevent the disturbance transmitting along the cables. The self-sensing controller is constructed to track the variable frequency of the disturbance. A prototype of the isolation system equipped with velocity sensors is developed for the experiment. The experiment results show that the closed-loop transmissibility is less than −5 dB in the whole frequency rand and is less than −40 dB around, adding anti-resonance frequency which can be adjusted from 0 Hz to initial anti-resonance frequency. The disturbance amplitude of the payload can be suppressed to 10%.

Traditional rigid exoskeletons can be challenging to the comfort of wearers and can have large pressure, which can even alter natural hand motion patterns. In this paper, we propose a low-cost soft exoskeleton glove (SExoG) system driven by surface electromyography (sEMG) signals from non-paretic hand for bilateral training. A customization method of geometrical parameters of soft actuators was presented, and their structure was redesigned. Then, the corresponding pressure values of air-pump to generate different angles of actuators were determined to support four hand motions (extension, rest, spherical grip, and fist). A two-step hybrid model combining the neural network and the state exclusion algorithm was proposed to recognize four hand motions via sEMG signals from the healthy limb. Four subjects were recruited to participate in the experiments. The experimental results show that the pressure values for the four hand motions were about &minus, 2, 0, 40, and 70 KPa, and the hybrid model can yield a mean accuracy of 98.7% across four hand motions. It can be concluded that the novel SExoG system can mirror the hand motions of non-paretic hand with good performance.

This paper presents a control allocation method for enhancing the attitude following performance and the energy efficiency of a variable-pitch propeller (VPP) system on quadrotor-based unmanned aerial vehicles. The VPP system was modeled according to the blade element momentum (BEM) theory, and an actuator allocation method was developed with the aim of enhancing the attitude control and energy performance. A simulation environment was built to validate the VPP system by creating a thrust and moment database from the experiments. A four-motor variable-pitch quadrotor was built for verifying the proposed method. The control allocation method was firstly verified in a simulation environment, and was then implemented in a flight controller for indoor flight experiments. The simulation results show the proposed control allocation method greatly improves the yaw following performance. The experimental results demonstrate a difference in the energy consumption through various pitch angles, as well as a reduction in energy consumption, by applying this VPP system.

The modular magnetic suspension platform depends on multi degree of freedom of Lorentz force actuators for large bearing capacity, high precision positioning and structure miniaturization. To achieve the integration of vertical driving force and horizontal driving force, a novel 2- (two degrees-of-freedom) DOF Lorentz force actuator is developed by designing the pose of the windings and permanent magnets (PMs). The structure and the working principle are introduced. The electromagnetic force mathematical model is established by the equivalent magnetic circuit method to analyze the coupling of magnetic flux. The distribution characteristics of magnetic flux density are analyzed by the finite-element method (FEM). It is found that the coupling of the magnetic flux and the large magnetic field gradient severely reduce the uniformity of the air-gap magnetic field. The electromagnetic force characteristic is investigated by FEM and measurement experiments. The difference between FEM and experiment results is within 10%. The reasons of driving force fluctuation are explained based on the distribution of air-gap magnetic field. The actuator performance are compared under the sliding mode control algorithm and PID control algorithm and the positioning accuracy is 20 &mu, m and 15 &mu, m respectively. Compared with the similar configuration, the motion range and force coefficient of the Lorentz force actuator in this paper are larger. It has a certain guiding significance on the structure design of the multi degree of freed Lorentz force actuator.

In this paper, we investigate a trajectory control problem for Euler-Lagrange systems with unknown quantization on the actuator channel. To address such a challenge, we proposed a quantization-mitigation-based trajectory control method, wherein adaptive control is employed to handle the time-varying input coefficients. We allow the quantized signal to pass through unknown actuator dynamics, which results in the coupled actuator dynamics for Euler-Lagrange systems. It is seen that our method is capable of driving the states of networked Euler-Lagrange systems to the desired ones via Lyapunov’s direct method. In addition, the effectiveness and advantage of our method are validated with a comparison to the existing controller.

Recent advances in lithography technology and the spread of 3D printers allow us a facile fabrication of special materials with complicated microstructures. The materials are called “designed materials” or “architectured materials” and provide new opportunities for material development. These materials, which owing to their rationally designed architectures exhibit unusual properties at the micro- and nano-scales, are being widely exploited in the development of modern materials with customized and improved performance. Meta-materials are found to possess superior and unusual properties as regards static modulus (axial stress divided by axial strain), density, energy absorption, smart functionality, and negative Poisson’s ratio (NPR). However, in spite of recent developments, it has only been feasible to fabricate a few such meta-materials and to implement them in practical applications. Against such a backdrop, a broad review of the wide range of cellular auxetic structures for mechanical metamaterials available at our disposal and their potential application areas is important. Classified according to their geometrical configuration, this paper provides a review of cellular auxetic structures. The structures are presented with a view to tap into their potential abilities and leverage multidimensional fabrication advances to facilitate their application in industry. In this review, there is a special emphasis on state-of-the-art applications of these structures in important domains such as sensors and actuators, the medical industry, and defense while touching upon ways to accelerate the material development process.

In physical Human&ndash, Robot Interaction (pHRI), forces exerted by humans need to be estimated to accommodate robot commands to human constraints, preferences, and needs. This paper presents a method for the estimation of the interaction forces between a human and a robot using a gripper with proprioceptive sensing. Specifically, we measure forces exerted by a human limb grabbed by an underactuated gripper in a frontal plane using only the gripper&rsquo, s own sensors. This is achieved via a regression method, trained with experimental data from the values of the phalanx angles and actuator signals. The proposed method is intended for adaptive shared control in limb manipulation. Although adding force sensors provides better performance, the results obtained are accurate enough for this application. This approach requires no additional hardware: it relies uniquely on the gripper motor feedback&mdash, current, position and torque&mdash, and joint angles. Also, it is computationally cheap, so processing times are low enough to allow continuous human-adapted pHRI for shared control.

This paper concerns mathematical modelling of dynamic performances to a new permanent magnet electromagnetic valve actuator (PMEVA). Both static and transient characteristics were simulated by using the finite element method (FEM) and field-circuit approach. The magnetic force values versus the excitation current and the position of the valve actuator movable part have been determined. Our concept of the mover positioning relative to the radial magnets is quite novel. PMEVA parameters are satisfied for implementation in combustion engines. Transients in the device have also been analyzed for no-load and for the nominal burden of the actuator. The indications of the position sensors and the excitation current waves were simulated and measured for the step voltage supply. The calculation results were verified experimentally, and a good conformity has been observed. The advantages of our actuator are simple construction, short time of the switching, the current supplying being needed only at the runner extreme positions, and simple controlling. Additionally, PMEVA design can be extended to support the simultaneous operation of four valves.

To solve the real-time complex mission-planning problem for Multiple heterogeneous Unmanned Aerial Vehicles (UAVs) in the dynamic environments, this paper addresses a new approach by effectively adapting the Consensus-Based Bundle Algorithms (CBBA) under the constraints of task timing, limited UAV resources, diverse types of tasks, dynamic addition of tasks, and real-time requirements. We introduce the dynamic task generation mechanism, which satisfied the task timing constraints. The tasks that require the cooperation of multiple UAVs are simplified into multiple sub-tasks to perform by a single UAV independently. We also introduce the asynchronous task allocation mechanism. This mechanism reduces the computational complexity of the algorithm and the communication time between UAVs. The partial task redistribution mechanism has been adopted for achieving the dynamic task allocation. The real-time performance of the algorithm is assured on the premise of optimal results. The feasibility and real-time performance of the algorithm are validated by conducting dynamic simulation experiments.

The topological derivative tool is applied here in structural health monitoring (SHM) problems to locate small defects in a material plate with complex geometry that is subject to permanent multifrequency guided waves excitation. Compared to more standard SHM methods, based in measuring the time-lag between emitted and received propagative pulses plus some postprocessing, the topological derivative somehow compares the measured and computed (solving the full elasto-dynamic equations) response of the damaged plate, instead of relying on only the time of flight of the wave. Thus, the method profits the knowledge behind the physics of the problem and can cope with scenarios in which classical methods give poor results. The authors of this paper have already used the topological derivative in rectangular plates with constant thickness, but with defects consisting simply in both through slits and inclusions of a different material, and actuators/sensors located near the boundary, which makes very difficult to use standard SHM methods. This is an extension of the method, also considering the much more difficult to analyze case of plates with variable thickness and complex (non-rectangular) planform.

Multi-DOF movement actuators are widely used in industry, mainly in the fields of bionics and precision machining. With the non-stop improvement of modern-day industry, the requirements for the precision, integration and flexibility of multi-degree-of-freedom motion actuators in the industrial field have progressively increased. This paper presents a novel electromagnetic&ndash, piezoelectric hybrid driven three-degree-of-freedom motor. The driving method of the hybrid drive motor can be divided into electromagnetic driving and piezoelectric driving. The motor structure and working principle are analyzed. The structural parameters are obtained by modal analysis of the stators and rotor. The rationality of the stator structure is proved by using the transient analysis of the piezoelectric stators. The magnetic field characteristics of the motor are analyzed by both analytical method and the finite element method. The contact pressure and displacement between the piezoelectric stator and the rotor are analyzed by the analytical method. A motor drive model is established, which provides the basis for motor optimization design and control. Finally, a motor prototype and its test platform were built, and the experimental results are presented to verify the rationality of the motor design.