相关论文: Toward a High Performance IPMC Soft Actuator using…

Ionic Polymer Metal Composites (IPMCs) are one of the most preferred choices among biocompatible materials for industrial and biomedical applications. Despite their advantages, some of their drawbacks include non-linear and hysteretic…

Ionic Polymer Metal Composite is a well-known soft electroactive polymer composite that it's promising features tell us that it has adequate potential to be a utilizable and applicative soft actuator in the practical applications,…

The increasing number of inverter based resources (IBRs) connected to modern power systems necessitate accurate modeling of IBRs in stability studies. Measurement-based modeling approaches can create an impedance/admittance model of IBRs to…

IPMCs consist of a Nafion(R) ionic polymer film coated on both sides with a thin layer of metallic electrodes. The polymer completely dissociates when it is saturated with water, releasing small cations while anions remain bound to the…

Vibration-based condition monitoring (VBCM) is widely utilized in various applications due to its non-destructive nature. Recent advancements in sensor technology, the Internet of Things (IoT), and computing have enabled the facilitation of…

Interconnection and damping assignment passivity-based control (IDA-PBC) is an excellent method to stabilize mechanical systems in the Hamiltonian formalism. In this paper, several improvements are made on the IDA-PBC method. The…

As robots shift from industrial to human-centered spaces, adopting mobile manipulators, which expand workspace capabilities, becomes crucial. In these settings, seamless interaction with humans necessitates compliant control. Two common…

Electroactive-Polymers (EAPs) are one of the best soft materials with great applications in active microfluidics. Ionic ones (i-EAPs) have more promising features for being appropriate candidates to use in active microfluidic devices. Here,…

A computational method is developed for the study of mechanical response and fracture behavior of phase field crystals (PFC), to overcome a limitation of the PFC dynamics which lacks an effective mechanism for describing fast mechanical…

Power system operators are increasingly deploying Variable Impedance Devices (VIDs), e.g., Smart Wires, and Network Topology Optimization (NTO) schemes for mitigating operational challenges such as line and transformer congestion, and…

With the increasing penetration of inverter-based resources (IBRs) in power grids, system-level coordinated optimization of IBR controllers has become increasingly important for maintaining overall system stability. Unlike most existing…

To detach a permanent magnet with a controlled force much smaller than its original attractive force, the Internally-Balanced Magnetic Unit (IB Magnet) was invented and has been applied to magnetic devices such as wall-climbing robots,…

This paper presents an integration of nonlinear disturbance observer within proxy-based sliding mode control (IDO-PSMC) approach for Pneumatic Muscle Actuators (PMAs). Due to the nonlinearities, uncertainties, hysteresis, and time-varying…

A model predictive control (MPC) method for enhancing post-fault transient stability of a grid-forming (GFM) inverter based resources (IBRs) is developed in this paper. This proposed controller is activated as soon as the converter enters…

Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…

Ionic polymer actuators, in essence, consist of ion exchange polymers sandwiched between layers of electrodes. They have recently gained recognition as promising candidates for soft actuators due to their lightweight nature, noise-free…

This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…

Rapid acceleration and burst maneuvers in underwater robots depend less on maintaining precise resonance and more on force--velocity phase alignment during thrust generation. In this work, we investigate constrained-layer damping (CLD) as a…

Physics-based simulation is essential for developing and evaluating robot manipulation policies, particularly in scenarios involving deformable objects and complex contact interactions. However, existing simulators often struggle to balance…

Impedance-based small-signal stability analysis is widely applied in practical engineering with modular multilevel converters (MMCs). However, the deficiencies of existing impedance models (IMs) and the idealized extension for the single…