相关论文: Energy-Cautious Designation of Kinematic Parameter…
The global push for sustainability and energy efficiency is driving significant advancements across various industries, including the development of electrified solutions for heavy-duty mobile manipulators (HDMMs). Electromechanical linear…
The shift to electric and hybrid powertrains in vehicular systems has propelled advancements in mobile robotics and autonomous vehicles. This paper examines the sensitivity of key performance metrics in a electrified heavy-duty mobile…
This paper presents a unified framework that integrates modeling, optimization, and sensorless control of an all-electric heavy-duty robotic manipulator (HDRM) driven by electromechanical linear actuators (EMLAs). An EMLA model is…
This paper introduces an innovative observer-based modular control strategy in a class of n_a-degree-of-freedom (DoF) fully electrified heavy-duty robotic manipulators (HDRMs) to (1) guarantee robustness in the presence of uncertainties and…
This paper presents a unified system-level modeling and control framework for an all-electric heavy-duty robotic manipulator (HDRM) driven by electromechanical linear actuators (EMLAs). A surrogate-enhanced actuator model, combining…
Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic solutions for highly dynamic handling and machining applications. The safe and accurate design and control necessitates high-fidelity dynamics models.…
This paper introduces a novel model-free control strategy for a complex multi-stage gearbox electromechanical linear actuator (EMLA) system, driven by a permanent magnet synchronous motor (PMSM) with non-ideal ball screw characteristics.…
Today's heavy-duty mobile machines (HDMMs) face two transitions: from diesel-hydraulic actuation to clean electric systems driven by climate goals, and from human supervision toward greater autonomy. Diesel-hydraulic systems have long…
A major field of industrial robot applications deals with repetitive tasks that alternate between operating points. For these so-called pick-and-place operations, parallel kinematic manipulators (PKM) are frequently employed. These tasks…
In this paper, we simultaneously address the problems of energy optimal and safe motion planning of electric vehicles (EVs) in a data-driven robust optimization framework. Safe maneuvers, especially in urban traffic, are characterized by…
Heavy-duty hydraulic manipulators (HHMs) operate under strict physical and safety-critical constraints due to their large size, high power, and complex nonlinear dynamics. Ensuring that both joint-level and end-effector trajectories remain…
Based on the driving requirement and power balance of heavy-duty vehicle equipped with Electro-Mechanical Transmission (EMT), optimization goals under different driving patterns are put forward. The optimization objectives are changed into…
Connected and Automated Hybrid Electric Vehicles have the potential to reduce fuel consumption and travel time in real-world driving conditions. The eco-driving problem seeks to design optimal speed and power usage profiles based upon…
Learning-based intelligent energy management systems for plug-in hybrid electric vehicles (PHEVs) are crucial for achieving efficient energy utilization. However, their application faces system reliability challenges in the real world,…
Driving vehicles in complex scenarios under harsh conditions is the biggest challenge for autonomous vehicles (AVs). To address this issue, we propose hierarchical motion planning and robust control strategy using the front-active steering…
This paper studies optimal thermal management and charging of a battery electric vehicle driving over long distance trips. The focus is on the potential benefits of including a heat pump in the thermal management system for waste heat…
We present a concept of constrained collaborative mobile agents (CCMA) system, which consists of multiple wheeled mobile agents constrained by a passive kinematic chain. This mobile robotic system is modular in nature, the passive kinematic…
With the growth of intelligent civil infrastructure and smart cities, operation and maintenance (O&M) increasingly requires safe, efficient, and energy-conscious robotic manipulation of articulated components, including access doors,…
This article proposes a nonlinear microscopic dynamical model for autonomous electric vehicles (A-EVs) that considers battery energy efficiency in the car-following dynamics. The model builds upon the Optimal Velocity Model (OVM), with the…
Industrial manipulators have extensively collaborated with human operators to execute tasks, e.g., disassembly of end-of-use products, in intelligent remanufacturing. A safety task execution requires real-time path planning for the…