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Sagittal SLIP-anchored task space control for a monopode robot traversing irregular terrain

Haitao YU, Haibo GAO, Liang DING, Zongquan DENG

Frontiers of Mechanical Engineering 2020, Volume 15, Issue 2, Pages 193-208 doi: 10.1007/s11465-019-0569-3

Abstract: mass (CoM) with maneuverability, this study presents a novel two-layered sagittal SLIP-anchored (SSA) taskspace control for a monopode robot to deal with terrain irregularity.deriving an approximate solution with satisfactory apex prediction accuracy, and a two-layered SSA taskspace controller is subsequently developed for the monopode robot.The lower layer enforces the monopode robot to reproduce a generated CoM movement by using a task space

Keywords： legged robots spring-loaded inverted pendulum task space control apex return map deadbeat control irregular

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Task-space position/attitude tracking control of FAST fine tuning system

QI Lin, ZHANG Hui, DUAN Guanghong

Frontiers of Mechanical Engineering 2008, Volume 3, Issue 4, Pages 392-399 doi: 10.1007/s11465-008-0056-8

Abstract: This paper addresses the task-space position/attitude tracking control of a suspended parallel robot,Based on the quaternion algebra, a novel model-independent task-space PD controller that ensures end-effectorThe simulation and experimental results show that the new controller has better control effects thanthe traditional joint-space controller.

Keywords： telescope five-hundred end-effector controller simulation

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Behavioral control task supervisor with memory based on reinforcement learning for human–multi-robot Research Article

Jie HUANG, Zhibin MO, Zhenyi ZHANG, Yutao CHEN,yutao.chen@fzu.edu.cn

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 8, Pages 1174-1188 doi: 10.1631/FITEE.2100280

Abstract: In this study, a novel (RLTS) with memory in a behavioral control framework is proposed for ; (HMRCSsExisting HMRCSs suffer from high decision-making time cost and large task tracking errors caused by repeatedthe NSBC framework, to achieve an optimal behavioral priority adjustment strategy in the presence of task

Keywords： Human– multi-robot coordination systems Null-space-based behavioral control Task supervisor Reinforcement

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FULL TIME-SPACE GOVERNANCE STRATEGY AND TECHNOLOGY FOR CROPLAND NON-POINT POLLUTION CONTROL IN CHINA

Frontiers of Agricultural Science and Engineering 2023, Volume 10, Issue 4, Pages 593-606 doi: 10.15302/J-FASE-2023522

Abstract: strategies and comprehensive technologies need to be developed for agricultural non-point source pollution controlIn this review, a proposal is made for a full time-space governance strategy that prioritizes sourcemanagement followed by endpoint water pollution control.The 4R chain technology system with the full time-space governance strategy was applied at the scalesupportive policies need to be set to enhance the efficacy of agricultural non-point source pollution control

Keywords： 4R chain technology system agricultural non-point source pollution case study full time-space governance

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Direct field oriented control scheme for space vector modulated AC/DC/AC converter fed induction motor

F. BENCHABANE, A. TITAOUINE, O. BENNIS, K. YAHIA, D. TAIBI

Frontiers in Energy 2012, Volume 6, Issue 2, Pages 129-137 doi: 10.1007/s11708-012-0183-0

Abstract: This paper investigates a Luenberger flux observer with speed adaptation for a direct field oriented controlSimulation results show that the proposed direct field oriented control with the proposed observer providesmode technique that enables minimization of harmonics introduced by the line converter, as well as the control

Keywords： induction motor direct filed oriented control Luenberger observer estimation space vector modulation(SVM) sliding mode control boost-rectifier

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A novel task-oriented framework for dual-arm robotic assembly task

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3, Pages 528-545 doi: 10.1007/s11465-021-0638-2

Abstract: This paper proposes a novel framework that combines task-oriented motion planning with visual perceptionThe assembly task and manipulation sequences can be obtained by analyzing and reasoning the state transition

Keywords： dual-arm assembly AI reasoning intelligent system task-oriented motion planning visual perception

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Risk evaluation for the task transfer of an aircraft maintenance program based on a multielement connection

Frontiers of Engineering Management doi: 10.1007/s42524-023-0282-0

Abstract: maintenance programs with a focus on quantitative risk assessment in the domain of aircraft maintenance taskThe paper advances a holistic risk assessment index architecture tailored for the task transfer of maintenancemodel is employed to characterize decision-specific data, thereby facilitating the quantification of taskanalytical construct serves to streamline the process of risk assessment pertinent to maintenance program task

Keywords： risk evaluation maintenance steering group analytic network process task transfer maintenance program

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Fault tolerant control strategy for modular PWM current source inverter

Frontiers in Energy 2023, Volume 17, Issue 2, Pages 228-238 doi: 10.1007/s11708-022-0852-6

Abstract: In this paper, a fault-tolerant control method for an input-series output-parallel modular grid-tiedThis method actively offsets the neutral point of the current space vector to ensure a sinusoidal outputIn addition, an active damping control method based on grid harmonic current feedback is proposed after

Keywords： current source converter (CSC) fault-tolerant control space vector modulation active damping resonance

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High-efficiency inspecting method for mobile robots based on task planning for heat transfer tubes in

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0741-z

Abstract: Since there are thousands of tubes to be checked, task planning is essential to guarantee the preciseMost in-service robots check the task tubes using row-by-row and column-by-column planning.Therefore, this paper introduces the structure and control system of a dexterous robot and proposes atask planning method.This method proceeds into three steps: task allocation, base position search, and sequence planning.

Keywords： steam generator transfer tubes mobile robot dexterous structure task planning efficient inspection

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Real-time task processing method based on edge computing for spinning CPS

Shiyong YIN, Jinsong BAO, Jie LI, Jie ZHANG

Frontiers of Mechanical Engineering 2019, Volume 14, Issue 3, Pages 320-331 doi: 10.1007/s11465-019-0542-1

Abstract: A system model is established, and a real-time task processing method is proposed for the edge computingExperimental results indicate that the proposed real-time task processing method based on edge computingcan effectively solve the delay problem of real-time task processing in spinning cyber-physical systems, save bandwidth, and enhance the security of task transmission.

Keywords： edge computing real-time task scheduling CPS spinning

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Shape control of multi-cellular inflatable panels

N. KATAYAMA, K. ISHIMURA, K. MINESUGI, DANIEL J. INMAN

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 3, Pages 276-282 doi: 10.1007/s11465-013-0267-5

Abstract: inflatable structures are ultra-light and robust against membrane damage such as pinholes caused by spaceDue to their robustness, inflatable structures supported by inner gases can be applied as space structuresIn the present study, shape control for a simple multi-cellular inflatable panel was achieved via a novel

Keywords： Membrane structures inflatable structure shape control smart structures structural mechanics space engineering

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A space solar cell bonding robot

FU Zhuang, ZHAO Yan-zheng, LIU Ren-qiang, DONG Zhi

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 3, Pages 360-363 doi: 10.1007/s11465-006-0027-x

Abstract: A space solar cell bonding robot system which consists of a three-axis Cartesian coordinate s robot,coating device, bonding device, orientation plate, and control subsystem was studied.A method, which can control the thickness o

Keywords： Cartesian coordinate thickness three-axis Cartesian orientation control subsystem

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Investigation of the hydro-mechanical behaviour of compacted expansive clay

Yujun CUI, An Ninh TA, Anh Minh TANG, Yingfa LU,

Frontiers of Structural and Civil Engineering 2010, Volume 4, Issue 2, Pages 154-164 doi: 10.1007/s11709-010-0019-0

Abstract: The hydro-mechanical behaviour of compacted expansive Romainville clay was investigated. The soil was air-dried, crushed, and passed through a 2 mm sieve before being statically compacted to a dry density of 1.35 Mg/m. The mechanical behaviour was investigated by tests in oedometer with controlled suction using the vapor equilibrium technique (suction = 0, 9, 39, and 110 MPa). The vertical stress was applied in the range of 0–800 kPa. The experimental results are shown as follows: 1) wetting-induced swelling was higher at lower vertical stresses; 2) the vertical stress under which no swelling occurred during water flooding was estimated at 60 kPa, which can be considered as the swelling pressure of the soil tested; 3) the soil compressibility (changes of volume upon stress increases) was strongly influenced by the soil suction: the lower the suction, the higher the compressibility. The hydraulic behaviour was investigated using a large-scale infiltration chamber (800 mm × 1000 mm in section and 1000 mm high). The large size of the soil column allowed burying the volumetric water content sensors (ThetaProbe) without significantly affecting the water transfer and the soil swelling during infiltration. The soil suction was monitored along the soil height (every 100 mm) using various relative humidity sensors and psychrometers. In the infiltration test, water was kept on the soil surface and changes in suction and volumetric water content were monitored for 338 d. The wetting front has reached the bottom of the soil column at the end of the test. The data from the simultaneous monitoring of suction and water content were used to determine the water retention curve and the unsaturated hydraulic conductivity using the instantaneous profile method. It has been observed that the soil water retention curve depends on the soil depth; that is to be related to the soil depth-dependent swelling. The unsaturated hydraulic conductivity was found to be quite low, comprised between 3 × 10 m/s (at saturated state) and 10 m/s (at about 100 MPa suction).

Keywords： Romainville clay suction control oedometer test large infiltration task hydro-mechanical behaviour

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Robust SVM-direct torque control of induction motor based on sliding mode controller and sliding mode

Abdelkarim AMMAR,Amor BOUREK,Abdelhamid BENAKCHA

Frontiers in Energy 2020, Volume 14, Issue 4, Pages 836-849 doi: 10.1007/s11708-017-0444-z

Abstract: This paper proposes a design of control and estimation strategy for induction motor based on the variableIt describes a coupling of sliding mode direct torque control (DTC) with sliding mode flux and speedThis algorithm uses direct torque control basics and the sliding mode approach.reference voltages in stationary frame and give them to the controlled motor after modulation by a spaceThe effectiveness of the whole composed control algorithm is investigated in different robustness tests

Keywords： induction motor direct torque control (DTC) space vector modulation (SVM) sliding mode control (SMC)

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A modular design kit for task-adaptable low-cost robots based on BaPaMan design

G. BORCHERT, C. L?CHTE, G. CARBONE, A. RAATZ

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1, Pages 33-41 doi: 10.1007/s11465-013-0356-5

Abstract: Additionally this paper shows the implementation of a construction kit which allows task-adaptation ofFinally, task-adaptation is achieved by using a design methodology and a parametric CAD model for BaPaMan

Keywords： binary actuation flexure hinges SMA actuators low-cost design kit task-adaptation