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Why animals can outrun robots Sci. Robot. (IF 25.0) Pub Date : 2024-04-24 Samuel A. Burden, Thomas Libby, Kaushik Jayaram, Simon Sponberg, J. Maxwell Donelan
Animals are much better at running than robots. The difference in performance arises in the important dimensions of agility, range, and robustness. To understand the underlying causes for this performance gap, we compare natural and artificial technologies in the five subsystems critical for running: power, frame, actuation, sensing, and control. With few exceptions, engineering technologies meet or
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Learning robust autonomous navigation and locomotion for wheeled-legged robots Sci. Robot. (IF 25.0) Pub Date : 2024-04-24 Joonho Lee, Marko Bjelonic, Alexander Reske, Lorenz Wellhausen, Takahiro Miki, Marco Hutter
Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots, necessitating innovative solutions for locomotion and navigation. These challenges include the need for adaptive locomotion across varied terrains and the ability to navigate
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Engineering Compliance in Legged Robots Via Robust Co-Design IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-24 Gabriel Bravo-Palacios, He Li, Patrick M. Wensing
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Full-field displacement measurement of long-span bridges using one camera and robust self-adaptive complex pyramid Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-23 Yuchao Wang, Weihua Hu, Jun Teng, Yong Xia
Full-field motion with a high spatial resolution can reflect the health state of long-span bridges. Traditional structural health monitoring (SHM) systems measure the structural displacement at sparse points only. Despite the development of various methods for obtaining high-resolution responses, they fail to estimate the multi-scale motions of real long-span bridges. A novel full-field motion estimation
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The assignment of zero sound pressure frequencies using measured sound pressure receptances and structural receptances Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-23 Yingsha Shi, Sheng Li
In structural receptances, the zeros (antiresonances) define those frequencies at which vibrations disappear. In this paper, the zero sound pressure frequency is defined as the frequency at which the sound pressure is zero at certain locations. A method for the assignment of zero sound pressure frequencies using measured sound pressure receptances and structural receptances is proposed through two
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Physics-based prognostics of rolling-element bearings: The equivalent damaged volume algorithm Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-23 Alberto Gabrielli, Mattia Battarra, Emiliano Mucchi, Giorgio Dalpiaz
This paper introduces a novel parameter related to bearing degradation, namely the Equivalent Damaged Volume (EDV). An algorithm capable of extracting EDV values from experimental data is detailed. To this end, the proposed technique relies on the comparison between experimental and numerical signals. The former are the result of an extensive campaign of run-to-failure tests performed on a dedicated
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rLSTM-AE for dimension reduction and its application to active learning-based dynamic reliability analysis Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-23 Yu Zhang, You Dong, Michael Beer
A novel method termed rLSTM-AE is developed for the low-dimensional latent space identification of the stochastic dynamic systems with more than 1000 input random variables and the active learning-based dynamic reliability analysis. First, the long short-term memory network considers both the time-variant stochastic excitation and the time-invariant random variables is developed (rLSTM), which adopts
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Tracking superharmonic resonances for nonlinear vibration of conservative and hysteretic single degree of freedom systems Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-23 Justin H. Porter, Matthew R.W. Brake
Many modern engineering structures exhibit nonlinear vibration. Characterizing such vibrations efficiently is critical to optimizing designs for reliability and performance. For linear systems, steady-state vibration occurs only at the forcing frequencies. However, nonlinearities (e.g., contact, friction, large deformation, etc.) can result in nonlinear vibration behavior including superharmonics —
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Estimating structural motions in extreme environmental conditions——A dynamic correlation filter based computer vision approach Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-23 Enjian Cai, Yi Zhang, Xinzheng Lu, Xiaodong Ji, Xiang Gao, Jiale Hou, Ji Shi, Wei Guo
Vision-based methods have shown great potential in vibration-based structural health monitoring (SHM). However, these methods are not standard practices yet, since their accuracy and robustness may be influenced by extreme environmental conditions. To this end, this paper proposed a method, named dynamic regularized total variation correlation filter (DTVCF). In DTVCF, an effective optimization problem
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Physical Human–Robot Interaction Based on Adaptive Impedance Control for Robotic-Assisted Total Hip Arthroplasty IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-23 Yiming Chen, Yuhao Zhang, Xingwei Zhao, Qiang Xie, Kun Yang, Bo Tao, Han Ding
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A Novel Variable Stiffness Actuator Based on Cable-Pulley-Driven Mechanisms for Robotics IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-23 Zhisen Li, Peng Xu, Bing Li
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Robust Precision Motion Control Based on Enhanced Unknown System Dynamics Estimator for High-DoF Robot Manipulators IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-23 Xinyu Jia, Jun Yang, Tian Shi, Wenxin Wang, Yongping Pan, Haoyong Yu
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MGLT: Magnetic-Lead Global Localization and Tracking in Degenerated Repetitive Environments IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-23 Zhenyu Wu, Wei Wang, Jun Zhang, Yuanzhe Wang, Guohao Peng, Danwei Wang
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Iterative Learning for Gravity Compensation in Impedance Control IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-23 Teng Li, Amir Zakerimanesh, Yafei Ou, Armin Badre, Mahdi Tavakoli
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Experimental nonlinear model of a set of connecting elements in view of nonlinear modal coupling Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-22 Jacopo Brunetti, Walter D’Ambrogio, Annalisa Fregolent, Francesco Latini
The development process of mechanical systems involves the evaluation of its modes of vibrations in the frequency range of interest. In general, a linear modal analysis is sufficient to determine whether the system can operate in dynamic conditions. However, in some cases the assembly is composed of many subsystems connected through nonlinear connections which make the response depend on the amplitude
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Neurosymbolic Motion and Task Planning for Linear Temporal Logic Tasks IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-22 Xiaowu Sun, Yasser Shoukry
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Soft Printable Robots with Flexible Metal Endoskeleton IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-22 Chao-Yu Chen, Benjamin W.K.Ang, Yangfan Li, Jun Liu, Zhuangjian Liu, Chen-Hua Yeow
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Autonomous Vehicle Localization Without Prior High-Definition Map IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-22 Sangmin Lee, Jee-Hwan Ryu
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Online Multi-Contact Receding Horizon Planning via Value Function Approximation IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-22 Jiayi Wang, Sanghyun Kim, Teguh Santoso Lembono, Wenqian Du, Jaehyun Shim, Saeid Samadi, Ke Wang, Vladimir Ivan, Sylvain Calinon, Sethu Vijayakumar, Steve Tonneau
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Heterogeneous Targets Trapping With Swarm Robots by Using Adaptive Density-Based Interaction IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-22 Shuai Zhang, Xiaokang Lei, Xingguang Peng, Jia Pan
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Complete and Near-Optimal Robotic Crack Coverage and Filling in Civil Infrastructure IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-22 Vishnu Veeraraghavan, Kyle Hunte, Jingang Yi, Kaiyan Yu
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On the Generality and Application of Mason's Voting Theorem to Center of Mass Estimation for Pure Translational Motion IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-22 Ziyan Gao, Armagan Elibol, Nak Young Chong
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Parallel Manipulator Double Stage Calibration Based on Adaptive Kalman Filter IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-22 Omid Mahdi Zadeh, Vahid Akbari, S. Ali A. Moosavian, Esmaeil Najafi
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Task Optimization for a Class of Mobile Depth Sensor Network in Unknown Environments IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-22 Zike Lei, Xi Chen, Ying Tan, Xiang Chen, Li Chai
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Partially observable deep reinforcement learning for multi-agent strategy optimization of human-robot collaborative disassembly: A case of retired electric vehicle battery Robot. Comput.-Integr. Manuf. (IF 10.4) Pub Date : 2024-04-20 Jiaxu Gao, Guoxian Wang, Jinhua Xiao, Pai Zheng, Eujin Pei
The burgeoning electric vehicle (EV) industry has precipitated a commensurate surge in the consumption of EV batteries, which are currently labor-intensive and inefficient for the recycling and disassembly of EV batteries. However, it is a potential trend to enhance the efficacy and safety of the disassembly of EV batteries based on human-robot collaboration (HRC) method. Because of the uncertainty
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Reliable arrival time picking of acoustic emission using ensemble machine learning models Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-19 Xiao Wang, Qingrui Yue, Xiaogang Liu
This study presents an innovative method for accurately picking the first-wave arrival time in acoustic emission (AE) localization, particularly effective in environments with low or variable signal-to-noise ratios (SNR). Utilizing an ensemble learning model, it synergizes multiple automatic arrival time estimation algorithms to enhance both consistency and robustness. The model, rooted in decision
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Multiscale fluid–structure coupled real-time hybrid simulation of monopile wind turbines with vibration control devices Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-19 Hao Ding, Zili Zhang, Jinting Wang, Jian Zhang, Okyay Altay
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PH-Gauss-Lobatto Reduced-Order-Model for shape control of Soft-Continuum Manipulators IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-19 Steeve Mbakop, Gilles Tagne, Tanguy Chevillon, Sergey V. Drakunov, Rochdi Merzouki
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Provably Feasible Semi-Infinite Program Under Collision Constraints via Subdivision IEEE Trans. Robot. (IF 7.8) Pub Date : 2024-04-19 Duo Zhang, Chen Liang, Xifeng Gao, Kui Wu, Zherong Pan
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Gesture-Based Steering Framework for Redundant Soft Robots IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-19 Jiewen Lai, Bo Lu, Kaicheng Huang, Henry K. Chu
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DexiTac: Soft Dexterous Tactile Gripping IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-19 Chenghua Lu, Kailuan Tang, Max Yang, Tianqi Yue, Haoran Li, Nathan F. Lepora
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A New Active-Thrust Tool Spindle and Integrated Force Measurement Technique for Robotic Drilling IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-19 Matthew O. T. Cole, Pongsiri Kuresangsai, Pinyo Puangmali, Theeraphong Wongratanaphisan, Chakkapong Chamroon
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A Novel Articulated Manipulator Design With Mechanism Doublet IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-19 Yunjiang Wang, Keji Yang, Haoran Jin
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Lamb waves-based PCF-DMA: An anti-interference synchronous independent data transmission scheme for multiple cross-space users Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-18 Yunfei Xu, Haoming Xiang, Xuegang Li, Hezhen Yu, Shaohua Chen, Wenbin Huang, Xiaoxi Ding
Due to the high cost and safety risk brought about by wire penetration within the aerospace and underwater structure, reliable wireless cross-space multiple access transmission techniques become highly necessary. Lamb waves data transmission is recognized as a feasible solution, since it utilizes the solid structures as the transmission medium without being affected by electromagnetic radiation. However
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Machine learning-based optimal design of an acoustic black hole metaplate for enhanced bandgap and load-bearing capacity Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-18 Sihao Han, Nanfang Ma, Qiang Han, Chunlei Li
This paper introduces a novel machine learning-based optimization strategy for multi-functional acoustic black hole (ABH) metaplates. The primary objective is to achieve a multi-functional metaplate with excellent performance in elastic wave attenuation and load-bearing capacity simultaneously. The paper begins by describing the design of nanocomposite ABH metaplates, presenting a new pathway to realize
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Physics-informed neural networks for acoustic boundary admittance estimation Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-18 Johannes D. Schmid, Philipp Bauerschmidt, Caglar Gurbuz, Martin Eser, Steffen Marburg
Acoustic simulations often face significant uncertainties due to limited knowledge of acoustic boundary conditions. While measuring the boundary admittance is challenging in practical applications, numerical inverse methods can be used to characterize the boundary conditions based on sound pressure data. However, conventional inverse methods require a validated forward model and can become impractical
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A guide to numerical dispersion curve calculations: Explanation, interpretation and basic Matlab code Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-18 Vanessa Cool, Elke Deckers, Lucas Van Belle, Claus Claeys
Dispersion diagrams play a crucial role in examining, analyzing and designing wave propagation in periodic structures. Despite their ubiquity and current research interest, introductory papers and reference scripting tailored to novel researchers in the field are lacking. This paper aims to address this gap, by presenting a comprehensive educational resource for researchers starting in the field of
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Shape Servoing of Deformable Objects Using Model Estimation and Barrier Lyapunov Function IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-18 Vrithik Raj Guthikonda, Ashwin P. Dani
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Root Canal Preparation Robot Based on Guiding Strategy for Safe Remote Therapy: System Design and Feasibility Study (2023) IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-18 Dianhao Wu, Jingang Jiang, Jie Pan, Kun Qian, Zhonghao Xue
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Toward Highly Sensitive Ocean-Wave Monitoring With Sliding-Triboelectric Effect: Modeling, Experimental Validation, and Demonstration IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-18 Yan Peng, Heming Liu, Hengyu Guo, Ying Gong, Fan Shen, Qin Zhang, Zhongjie Li
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Embedded Model Predictive Control for Torque Distribution Optimization of Electric Vehicles IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-18 Xiao Hu, Hong Chen, Xun Gong, Yunfeng Hu, Ping Wang
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Confutation of the “Counterexample to Passivity Preservation for Variable Impedance Control of Compliant Robots” IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-18 Emmanouil Spyrakos-Papastavridis, Peter R. N. Childs, Jian S. Dai
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Real-world humanoid locomotion with reinforcement learning Sci. Robot. (IF 25.0) Pub Date : 2024-04-17 Ilija Radosavovic, Tete Xiao, Bike Zhang, Trevor Darrell, Jitendra Malik, Koushil Sreenath
Humanoid robots that can autonomously operate in diverse environments have the potential to help address labor shortages in factories, assist elderly at home, and colonize new planets. Although classical controllers for humanoid robots have shown impressive results in a number of settings, they are challenging to generalize and adapt to new environments. Here, we present a fully learning-based approach
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Locomotion as manipulation with ReachBot Sci. Robot. (IF 25.0) Pub Date : 2024-04-17 Tony G. Chen, Stephanie Newdick, Julia Di, Carlo Bosio, Nitin Ongole, Mathieu Lapôtre, Marco Pavone, Mark R. Cutkosky
Caves and lava tubes on the Moon and Mars are sites of geological and astrobiological interest but consist of terrain that is inaccessible with traditional robot locomotion. To support the exploration of these sites, we present ReachBot, a robot that uses extendable booms as appendages to manipulate itself with respect to irregular rock surfaces. The booms terminate in grippers equipped with microspines
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Constitutive model of metal rubber based on modified Iwan model under quasi-static compression and random vibration Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-17 Hang Yang, Xiangyu Chen, Chunwang He, Qiwen Zeng, Mingyong Wu, Gang Chen
Metal rubber has been widely applied in the fields of structural vibration reduction and impact protection, due to its excellent mechanical properties. However, an accurate constitutive model of metal rubber to characterize its complex nonlinear mechanical behavior is still lacking. In this paper, a new constitutive model of metal rubber based on the Iwan model (parallel spring-slider model) is proposed
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Semi-analytical modeling of thermo-metallurgical-induced wave propagation for titanium alloy parts in laser powder bed fusion Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-17 Zhi-Jian Li, Hong-Liang Dai, Yuan Yao, Yu-Song Li, Peng Xiao, Wei-Feng Luo
Thermal-induced wave propagation frequently occurs during the laser powder bed fusion (LPBF) process due to the laser-material interaction. However, the effect of thermal variation and the resulting metallurgical phase transition on the wave propagation characteristics remains unclear. This paper presents a semi-analytical modeling of thermo-metallurgical-induced wave propagation in the LPBF of titanium
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Domain distribution variation learning via adversarial adaption for helicopter transmission system fault diagnosis Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-17 Kuangchi Sun, Aijun Yin, Shiao Lu
Deep Learning-based fault diagnosis has aroused widespread attention in machine fault diagnosis. Helicopter is an important transport for its special purpose. How to ensure its normal operation is a challenging task. Nevertheless, the existing research mainly focuses on single bearing or gear of gearbox, while there are few reports about intelligent fault diagnosis of bearing and shaft in helicopter
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A novel weighted sparsity index based on multichannel fused graph spectra for machine health monitoring Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-17 Kaifan Zhang, Jing Yuan, Huiming Jiang, Qian Zhao
Constructing validated health indices (HIs) is main strategy for machine health monitoring. Multichannel signals always contain richer condition information of machines than single channel signals, resulting in promising HIs constructed from multichannel signals. To fully utilize multichannel signals to construct HIs, adopting appropriate multichannel fusion strategies and extracting useful feature
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ADSOC: A novel automatic and deterministic shaft orbit classification framework for large rotating machinery Mech. Syst. Signal Process. (IF 8.4) Pub Date : 2024-04-17 Cheng Hao Jin, Sheng Guo
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Wireless strain-field monitoring system for motion recognition via direct-ink-writing sensor-array Int. J. Mech. Sci. (IF 7.3) Pub Date : 2024-04-17 Xin Zhang, Peishi Yu, Yin Tao, Guotao Liu, Maoyang Li, Yuxiang Zhao, Junhua Zhao
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Theoretical analysis and potential engineering application of an energy harvester Int. J. Mech. Sci. (IF 7.3) Pub Date : 2024-04-17 Haitao Xu, Shengxi Zhou
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IEEE/ASME Transactions on Mechatronics Publication Information IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-17
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Cost-Effective Estimation of Vehicle Lateral Tire-Road Forces and Sideslip Angle via Nonlinear Sampled-Data Observers: Theory and Experiments IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-17 Anh-Tu Nguyen, Luciano Frezzatto, Thierry-Marie Guerra, Sébastien Delprat
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A Novel Dual-Redundancy More-Electric Braking System and Regulation Strategy Based on on/off Valves IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-17 Renjie Li, Weizhi Qiao, Xiaochao Liu, Hongtao Jin, Xiang Gao, Dingbo Li, Shuai Wu, Yaoxing Shang, Zongxia Jiao
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Implementing a Flat Bottom Driving Technique for Switched Reluctance Motors Utilizing a Full Bridge Inverter IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-17 Haitao Sun, Yibo Zhang, Jingyuan Liu, Chunyan Ma, Yan Chen
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Rigid and Flexible Structures Coupled System Study and Enhanced Vision-Aided Control for a Versatile Cable Winding Robot IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-17 Xu Jiang, Jun Zhang, Yaning Zhang, Aiguo Song, Bo Zhu
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TechRxiv: Share Your Preprint Research with the World! IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-17
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IEEE/ASME Transactions on Mechatronics Information for Authors IEEE ASME Trans. Mechatron. (IF 6.4) Pub Date : 2024-04-17