Development of Sliding Mode Controller Based on Internal Model Controller for Higher Precision Electro-Optical Tracking System

The electro-optical tracking system (ETS) on moving platforms is affected by the vibration of the moving carrier, the wind resistance torque in motion, the uncertainty of mechanisms and the nonlinear friction between frames and other disturbances, which may lead to the instability of the electro-optical tracking platform. Sliding mode control (SMC) has strong robustness to system disturbances and unknown dynamic external signals, which can enhance the disturbance suppression ability of ETSs. However, the strong robustness of SMC requires greater switching gain, which causes serious chattering. At the same time, the tracking accuracy of SMC has room for further improvement. Therefore, in order to solve the chattering problem of SMC and improve the tracking accuracy of SMC, an SMC controller based on internal model control (IMC) is proposed. Compared with traditional SMC, the proposed method can be used to suppress the strongest disturbance with the smallest switching gain, effectively solving the chattering problem of the SMC, while improving the tracking accuracy of the system. In addition, to reduce the adverse influence of sensor noise on the control effect, lifting wavelet threshold de-noising is introduced into the control structure to further improve the tracking accuracy of the system. The simulation and experimental results verify the superiority of the proposed control method.

Jiles-Atherton-Based Hysteresis Identification of Joint Resistant Torque in Active Spacesuit Using SA-PSO Algorithm

To eliminate the influence of spacesuits’ joint resistant torque on the operation of astronauts, an active spacesuit scheme based on the joint-assisted exoskeleton technology is proposed. Firstly, we develop a prototype of the upper limb exoskeleton robot and theoretically analyse the prototype to match astronauts’ motion behavior. Then, the Jiles-Atherton model is adopted to describe the hysteretic characteristic of joint resistant torque. Considering the parameter identification effects in the Jiles-Atherton model and the local optimum problem of the basic PSO (particle swarm optimization) algorithm, a SA- (simulated annealing-) PSO algorithm is proposed to identify the Jiles-Atherton model parameters. Compared with the modified PSO algorithm, the convergence rate of the designed SA-PSO algorithm is advanced by 6.25% and 20.29%, and the fitting accuracy is improved by 14.45% and 46.5% for upper limb joint model. Simulation results show that the identified J-A model can show good agreements with the measured experimental data and well predict the unknown joint resistance torque.

Flow regimes in a multi-gap circular Couette-Taylor system with opposite rotating cylinders

This work investigates the flow structure in the gaps of a multi-cylinder circular Couette-Taylor system, which is a model of a two-rotor heat generator. The initial information for studying the flow structure was data on the magnitude of the resistance torque to rotors opposed rotation, as well as on the nature of the amplitude-frequency spectrum of pulsations of this torque, depending on the viscosity of the working fluid and the rotational speed of the heat generator rotors. The obtained data allow comparing the nature of hydrodynamic processes in the single and obtained multi-gap circular space of Couette-Taylor and calculating the parameters of structural formations in the multi-gap working space of the heat generator. At relative rotational speeds of rotors (3-50) rad/s, the main energy of flow pulsations (up to 90%) is found in the amplitude-frequency spectra in the frequency range (12-70) Hz. It is associated with vortices first described by Taylor, which are extended low-frequency regularly alternating spirals and vortex structures with right and left rotation in the region of higher frequencies (200– 500) Hz; their frequency is determined by the width of the annular gaps of the multi-cylinder system.

Ankle resistance with a unilateral soft exosuit increases plantarflexor effort during pushoff in unimpaired individuals

Background Ankle-targeting resistance training for improving plantarflexion function during walking increases rehabilitation intensity, an important factor for motor recovery after stroke. However, understanding of the effects of resisting plantarflexion during stance on joint kinetics and muscle activity—key outcomes in evaluating its potential value in rehabilitation—remains limited. This initial study uses a unilateral exosuit that resists plantarflexion during mid-late stance in unimpaired individuals to test the hypotheses that when plantarflexion is resisted, individuals would (1) increase plantarflexor ankle torque and muscle activity locally at the resisted ipsilateral ankle, but (2) at higher forces, exhibit a generalized response that also uses the unresisted joints and limb. Further, we expected (3) short-term retention into gait immediately after removal of resistance. Methods Ten healthy young adults walked at 1.25 m s−1 for four 10-min discrete bouts, each comprising baseline, exposure to active exosuit-applied resistance, and post-active sections. In each bout, a different force magnitude was applied based on individual baseline ankle torques. The peak resistance torque applied by the exosuit was 0.13 ± 0.01, 0.19 ± 0.01, 0.26 ± 0.02, and 0.32 ± 0.02 N m kg−1, in the LOW, MED, HIGH, and MAX bouts, respectively. Results (1) Across all bouts, participants increased peak ipsilateral biological ankle torque by 0.13–0.25 N m kg−1 (p < 0.001) during exosuit-applied resistance compared to corresponding baselines. Additionally, ipsilateral soleus activity during stance increased by 5.4–11.3% (p < 0.05) in all but the LOW bout. (2) In the HIGH and MAX bouts, vertical ground reaction force decreased on the ipsilateral limb while increasing on the contralateral limb (p < 0.01). Secondary analysis found that the force magnitude that maximized increases in biological ankle torque without significant changes in limb loading varied by subject. (3) Finally, peak ipsilateral plantarflexion angle increased significantly during post-exposure in the intermediate HIGH resistance bout (p < 0.05), which corresponded to the greatest average increase in soleus activity (p > 0.10). Conclusions Targeted resistance of ankle plantarflexion during stance by an exosuit consistently increased local ipsilateral plantarflexor effort during active resistance, but force magnitude will be an important parameter to tune for minimizing the involvement of the unresisted joints and limb during training.

OPTIMUM WORKHOLDING CONDITIONS FOR PRECISION CYLINDRICAL GRINDING OPERATIONS

Grinding process is a very important process in machining industry being one of the most popular processes when high quality parts must be manufacture. Likewise, workholding is a critical issue on cylindrical grinding. The use of the driving dog is common when the workpiece is held between centers. However, one of the handicaps of this workholding is that the cylindrical workpiece cannot be ground along the complete length. In order to tackle this issue, in the present work the workpiece is held between centers avoiding the use of the driving dog. To this end, a methodology to obtain the grinding limit parameters that ensure that the transmitted torque is higher that the resistance torque is presented, being the aim of these tests is to avoid the sliding between the point and the workpiece. Finally, non-destructive tests are designed, which, using a safety coefficient of about 0.77, the tests allow the correct design of each specific grinding process. Keywords: cylindrical grinding, workholding, driving dog, sliding

Optimizing the Texturing Parameters of Concrete Pavement by Balancing Skid-Resistance Performance and Driving Stability

Curved texturing is an effective technique to improve the skid-resistance performance of concrete pavements, which relies on the suitable combination of the groove parameters. This study aims to optimize these parameters with the consideration of skid-resistance performance and driving stability. A pressure film was adopted to obtain the contact stress distribution at the tire–pavement interface. The evaluated indicator of the stress concentration coefficient was established, and the calculation method for the stationary steering resistance torque was optimized based on actual tire–pavement contact characteristics. Test samples with various groove parameters were prepared use self-design molds to evaluate the influence degree of each groove parameter at different levels on the skid-resistance performance through orthogonal and abrasion resistance tests. The results showed that the groove depth and groove spacing had the most significant influence on the stress concentration coefficient and stationary steering resistance torque, respectively, with the groove depth having the most significant influence on the texture depth. Moreover, the driving stability and durability of the skid-resistance performance could be balanced by optimizing the width of the groove group. After analyzing and comprehensively comparing the influences of various parameters, it was found the parameter combination with width, depth, spacing, and the groove group width, respectively, in 8 mm, 3 mm, 15 mm, and 50 mm can balance the skid-resistance performance and driving stability. The actual engineering results showed that the R2 of the fitting between the stress concentration coefficient and SFC (measured at 60 km/h) was 0.871, which proved the effectiveness of the evaluation index proposed in this paper.

Effects of Warm-up on Hamstring Stiffness, Stress–Relaxation, Flexibility and Knee Proprioception in Young Soccer Players

ABSTRACT Context: Nerves or fascia may limit motion in young soccer players, thereby contributing to frequent hamstring injuries. Nerve gliding exercises and self-myofascial release techniques may enhance the range of motion. Objective: The aim of this study was to compare the acute effect of foam rolling (FR) and neurodynamic nerve gliding (NDNG) on hamstring flexibility, passive stiffness, viscoelasticity and proprioception during the warm-up of soccer players. Design: Crossover study design. Setting: Research laboratory. Participants: Fifteen male soccer players on the same team (age 18.0 ± 1.4 years, body mass 76.9 ± 7.8 kg, height 183 ± 6 cm). Intervention: FR and NDNG included six sets of 45 s with 15 s rest between each set. Over a two-week period subjects performed NDNG and FR on two separate occasions. Main Outcome Measure(s): Hip flexion angle (SLR), knee extension range of motion (ROM), knee joint position sense (AKJPS), hamstring passive resistance torque (PRT), stiffness (STFmax and STF80%) and viscoelasticity (stress-relaxation test (SRT)). Results: A significant interaction between time and intervention was found for knee ROM (p = 0.017), PRT (p = 0.044), and STFmax (p = 0.042). NDNG induced an increase in ROM (p = 0.011), PRT (p = 0.008), and STFmax (p = 0.030). Both NDNG and FR induced an increase in SLR (p &lt; 0.001). No interaction or main effects was found for SRT and AKJPS. Conclusion: The inclusion of NDNG in the warm-up routine increased the ROM more in comparison with FR and may be of benefit to soccer players.

Parameter Estimation of a Countershaft Brake for Heavy-Duty Vehicles with Automated Mechanical Transmission

A countershaft brake is used as a transmission brake (TB) to realize synchronous shifting by reducing the automated mechanical transmission (AMT) input shaft’s speed rapidly. This process is performed to reduce shifting time and improve shifting quality for heavy-duty vehicles equipped with AMT without synchronizer. To improve controlled synchronous shifting, the AMT input shaft’s equivalent resistance torque and the TB’s characteristic parameters are studied. An AMT dynamic model under neutral gear position is analyzed during the synchronous control interval. A dynamic model of the countershaft brake is discussed, and its control flow is given. The parameter identification method of the AMT input shaft’s equivalent resistance torque is given on the basis of the least squares algorithm. The parameter identification of the TB’s characteristic parameters is proposed on the basis of the recursive least squares method (RLSM). Experimental results show that the recursive estimations of the TB’s characteristic parameters under different duty cycles of the TB solenoid valve, including brake torque estimation, estimation accuracy, and braking intensity estimation, can be effectively estimated. The research provides some reliable evidence to further study the synchronous shifting control schedule for heavy-duty vehicles with AMT.

Dynamic analysis of a belt transmission with the GMS friction model

The paper presents a certain method of analysing the dynamics of a belt transmission. A flat transmission model developed by us was presented. For the analysis, it assumed the transmission 5PK belt. A discrete belt model, being a system of rigid beams interconnected with flexible and shock-absorbing elements, was used. To account for the mutual influence between the belt and pulleys, the Kelvin–Voigt contact model was used. The GMS friction model was also implemented, which allows all basic known friction phenomena to be taken into account. For this purpose, the vector of generalized coordinates was expanded with additional sub-systems of coordinates modelling the flexible belt-pulley connection. Moreover, two additional cases of a sudden transmission start were presented: with values of driving and resistance torque not causing a significant slip in the transmission as well as values of torque that cause slip.

Horizontally Assembled Trapezoidal Piezoelectric Cantilevers Driven by Magnetic Coupling for Rotational Energy Harvester Applications

Horizontally assembled trapezoidal piezoelectric cantilevers driven by magnetic coupling were fabricated for rotational energy harvester applications. A dodecagonal rigid frame with an attached array of six trapezoidal cantilevers served as a stator for electrical power generation. A rotor disk with six permanent magnets (PMs) interacted magnetically with the counterpart cantilever’s tip-mass PMs of the stator by rotational motion. Each trapezoidal piezoelectric cantilever beam was designed to operate in a transverse mode that utilizes a planar Ag/Pd electrode printed onto lead zirconate titanate (PZT) piezoelectric thick film. The optimized distance between a pair of PMs of the rotor and the stator was evaluated as approximately 10 mm along the same vertical direction to make the piezoelectric cantilever beam most deflectable without the occurrence of cracks. The theoretically calculated resistance torque was maximized at 46 mN·m for the optimized trapezoidal piezoelectric cantilever. The proposed energy harvester was also demonstrated for wind energy harvester applications. Its harvested output power reached a maximum of approximately 22 mW at a wind speed of 10 m/s under a resistive load of 30 kΩ. The output performance of the proposed energy harvester makes it possible to power numerous low-power applications such as smart sensor systems.