This paper presents a novel dynamics-based human–robot collaboration (HRC) control method with a remote center-of-motion (RCM) constraint. The existing works rely on prescribed main task trajectories and regard the RCM constraint as a secondary task, making them inapplicable in the fully interactive mode under HRC. Our work imposes a virtual RCM constraint on the interactive HRC process so that the

For bearing condition monitoring, commonly used measuring points on the casing suffer from low signal-to-noise ratios and strong interference. These issues are expected to be addressed through embedded wireless sensors. To tackle the challenges faced by wireless sensor nodes in terms of energy supply and to enhance their intelligence level, this paper proposes a self-powered smart bearing pedestal

Instruments used for micro-nano observation, often have optical components with lifespans spanning several decades. While piezo inertial actuators offer the benefit of a compact structure, their limited travel life due to frictional wear poses a challenge for adapting to such applications. Currently, direct-drive piezo and electromagnetic hybrid drives are the preferred commercial solutions; however

The objective of this study is to investigate actuations based on the continuum deformation of flexible curved magnetically impregnated pipes conveying fluid. This flexible actuation due to flow-induced and magnetic forces offers a novel perspective in direct-ink-writing (DIW). The motion of the pipe’s tip-ends can be seen as a pen freely writing on paper. A kind of soft material, namely hard-magnetic

This study experimentally evaluates the lifetime of PTFE coating on Inconel-X750 specimens, a material commonly used in gas foil bearings (GFBs), based on surface roughness using a reciprocating test apparatus from a tribological perspective. The primary objective is to verify the enhancement of coating lifetime for GFBs, specifically focusing on the top foil coatings employing solid lubricants. The

This article investigates the sources of uncertainty in the dynamic response of turbine blades equipped with under-platform dampers (UPDs). While UPDs play a critical role in energy dissipation and vibration control, their effectiveness is influenced by various uncertainty factors, including contact pressure distribution, manufacturing variability, wear, loading history and many others. Among these

Two-dimensional ultrasonic-assisted grinding (2D-UAG) is a highly efficient process for brittle materials. Compared to conventional grinding (CG) and one-dimensional ultrasonic-assisted grinding (1D-UAG), the surface quality of workpieces can be further improved. Unidirectional carbon-fiber-reinforced silicon carbide composites (UD-Cf/SiCs) have a wide range of applications in engineering. However

The usage of an electrical propulsion energy system brings not only a wide speed range and large diving depth to the underwater vehicle but also the new electromechanical features of the PSS (Propulsion Shaft System). Revelation of the electromechanical coupling mechanisms and vibration characteristics is the key to the vibration suppression of PSS. This work presents a reinforced electromechanical

Surrogate models are extensively employed for forward and inverse uncertainty quantification in complex, computation-intensive engineering problems. Nonetheless, constructing high-accuracy surrogate models for complex dynamical systems with limited training samples continues to be a challenge, as capturing the variability in high-dimensional dynamical system responses with a small training set is inherently

Unsupervised Domain Adaptation (UDA) has achieved tremendous success in the task of solving new unlabeled target domains by leveraging its knowledge learned from labeled source datasets and has been widely utilized in wind turbine fault diagnosis. However, in the actual industrial scenarios, data privacy, commercial confidentiality, and transmission efficiency constraints make the source domain data

To address the challenges of openness and development efficiency in heterogeneous robotic systems for agile manufacturing, this paper proposes a novel development framework leveraging Data Distribution Service (DDS) orchestration. This framework is designed to enhance system openness, streamline development, and ensure high-performance communication critical for manufacturing agility. Firstly, the

In this paper, the low-frequency flexural wave band gap and broadband vibration reduction characteristics of multi-scale elastic metabeams with particle damping are theoretically and numerically studied. A band gap theoretical prediction model of multi-scale elastic metabeams with particle damping is established by using the plane wave expansion method combination with the gas-particle two-phase flow

Metastructures with periodically arranged high-static-low-dynamic stiffness (HSLDs) resonators can generate low frequency bandgap, thereby they are widely applied in low-frequency vibration suppression. However, the width of the bandgap decreases as the bandgap shifts to low frequency, severely reducing the robustness of the metastructure in frequency detuning. In this study, unit cells that consist

Traditional single-function lightweight structure excels in a specific application scenario such as energy absorption, but is difficult to meet the multi-function requirements of the complex working environment for the high-end equipments. In this paper, a novel quasi-zero stiffness (QZS) metamaterial is proposed based on the topological design combining the positive and negative stiffness units, to

The physical body and its interaction with the environment shape robot behavior, simplify control, and minimize computation.

Coordinating the motion between lower and upper limbs and aligning limb control with perception are substantial challenges in robotics, particularly in dynamic environments. To this end, we introduce an approach for enabling legged mobile manipulators to play badminton, a task that requires precise coordination of perception, locomotion, and arm swinging. We propose a unified reinforcement learning–based

Achieving lifelike autonomy remains a long-term aspiration, yet soft robots so far have mostly demonstrated rudimentary physical intelligence that relies on manipulation of external stimuli to generate continuous motion. To realize autonomous physical intelligence (API) capable of self-regulated sensing, decision-making, and actuation, a promising approach is creating nonlinear time-lag feedback embedded

High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high–degree-of-freedom dynamics and long-horizon, nonconvex nature of the optimization problem. In this work, we propose a hierarchical navigation pipeline for legged robots that can traverse such environments at high speed. The proposed pipeline consists of a planner and tracker module

Microjet technology can realize tiny droplet spraying, with the prospect of replacing the traditional process, so it has been widely researched and applied. Existing single nozzles have essentially fixed orifice diameters. If different size droplets are to be obtained, this is done by increasing the voltage, stacking multiple droplets to replace the nozzle, and so on. However, by these ways will bring

This study introduces a novel homotopy-based semi-analytical approach designed to tackle challenges posed by strong nonlinear frequency mixing effects and mixed periodicity and quasi-periodicity intervals, which remain unsolved in the literature. This method, termed the iterative residue-regulating homotopy method (IRRHM), starting from a simple initial guess, seeks to achieve an asymptotic convergence

Fastening clips, though seemingly minor components, are crucial for maintaining the stability and smoothness of railway tracks. However, clip fatigue fractures have been frequently encountered in high-speed railways due to high-frequency excitations. This study develops an efficient predictive model for clip fatigue life assessment using a particle swarm optimization algorithm (PSOA). Firstly, the

In practical applications, a large number of current research efforts regarding overhead crane systems tend to overly simplify them by adopting a single pendulum-element point model. Nevertheless, this paper puts forward a three-dimensional (3-D) model for the overhead crane with a distributed mass load, which conforms more closely to the actual engineering requirements in the real world. To cope with

Frequency-domain performance analysis of intersample behavior in sampled-data and multirate systems is challenging due to the lack of a frequency-separation principle, and systematic identification techniques are lacking. The aim of this paper is to develop an efficient technique for identifying the full intersample performance in the frequency-domain for closed-loop multirate systems, in particular

Ambient environment abounds with renewable low frequency vibration energy, but efficiently harnessing this energy remains challenging due to its low-grade nature. Herein, we propose a vibration energy modulator (VEM) to solve this issue through an innovative automatic energy accumulation-discharge (AEAD) strategy. The VEM is realized through the integration of a distinctive energy modulation unit within

Accurate identifying moving load is of great significance for bridge design, operation and maintenance. As the condition state of actual bridges is complex, moving load is subjected to time-varying uncertainty. Traditional probability theory uses stochastic process to describe uncertain moving load time history, which relies on plenty of samples. This paper proposes a bridge moving load identification

Direct numerical simulations of mechanical metamaterials are often computationally prohibitive due to multi-scale geometric complexity. This work develops a non-locality homogenization method (NLHM) integrating multi-scale asymptotic homogenization with generalized finite element principles for static and dynamic analysis. The method converts heterogeneous materials with inclusions or voids into mechanically

Nonlinear guided wave-based Structural Health Monitoring (SHM) systems provide a powerful approach for the accurate detection and localization of structural damage by using harmonic generation as a key indicator of anomalies. However, distinguishing structural harmonics from those induced by instrumentation, particularly piezoelectric (PZT) actuators, remains a significant challenge. Over time, PZT

Topological phononic crystals (PCs) as a novel and hot research of topological phases of matter have attracted increasing attention due to the topological transport characteristics of elastic waves. However, the effectively multi-field realization and regulation of elastic waves topological transport in complex environments remains a challenge. This study designs a novel magnetostrictive PC plate composed