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In the course of development of human communities towards industrially advanced societies of today, there have been changes not only in economic conditions in the majority of fields of human activity but also in the ways of providing for food, which went hand in hand with changes in living conditions. Large‐scale industrial production has brought about major changes in the way of life of the population. The development of industrial agglomerations results in a growing number of city dwellers, most of whom have no chance of producing foodstuffs of their own in kind. The distance between residential and industrial areas has been growing, the number of employed women has risen considerably. These are but a few factors affecting the way of boarding, particularly in households.

I‐V characteristics of GaAs n‐i‐n structures are calculated by considering impact ionization of carriers. Impact ionization at reverse‐biased n‐i junction becomes a cause of steep current rise when an acceptor density in the i‐layer is high. It is shown that an optimum acceptor density exists to keep a good isolation. Photoconduction transients of GaAs n‐i‐n structures are also simulated, and are shown to be strongly affected by existence of n‐i junctions.

In the paper the optimization procedure of a direct current motor with a hybrid excitation has been presented. The excitation system consists of a shunt field winding disposed around field pole and permanent magnet, both acting in parallel. The field distribution in motor for various magnet and field pole dimensions has been determined using finite element method. The flux linkage with the armature winding has been computed. Demagnetizing effect of armature current was taken into account. The optimal permanent magnet and the field pole dimensions, ensuring minimum total cost of purchase and work during assumed period of time were calculated. Motor characteristics e.g. rated torque, rated current, speed regulation limit were used as constraints. In worked up algorithm and computer program Carroll internal penalty function method was used. Some basic suggestions tor design of optimal hybrid excited dc motors with parallel permanent magnet and electromagnetic excitation are given.

This paper aims to propose a robust kinematic controller based on sliding mode theory designed to solve the trajectory tracking problem and also the formation control using the leader–follower strategy for nonholonomic differential-drive wheeled mobile robots with a PD dynamic controller.

To deal with classical sliding mode control shortcomings, such as the chattering and the requirement of a priori knowledge of the limits of the effects of disturbances, an immune regulation mechanism-inspired approach is proposed to adjust the control effort magnitude adaptively. A simple fuzzy boundary layer method and an adaptation law for the immune portion gain online adjustment are also considered. An obstacle avoidance reactive strategy is proposed for the leader robot, given the importance of the leader in the formation control structure.

To verify the adaptability of the controller, obstacles are distributed along the reference trajectory, and the simulation and experimental results show the effectiveness of the proposed controller, which was capable of generating control signals avoiding chattering, compensating for disturbances and avoiding the obstacles.

The proposed design stands out for the ability to adapt in a case involving obstacle avoidance, trajectory tracking and leader–follower formation control by nonholonomic robots under the incidence of uncertainties and disturbances and also considering that the immune-based control provided chattering mitigation by adjusting the magnitude of the control effort, with adaptability improved by a simple integral-type adaptive law derived by Lyapunov stability analysis.

The paper aims to determine the rational homotopy type of the total space of projectivized bundles over complex projective spaces using Sullivan minimal models, providing insights into the algebraic structure of these spaces.

The paper utilises techniques from Sullivan’s theory of minimal models to analyse the differential graded algebraic structure of projectivized bundles. It employs algebraic methods to compute the Sullivan minimal model of P(E) and establish relationships with the base space.

The paper determines the rational homotopy type of projectivized bundles over complex projective spaces. Of great interest is how the Chern classes of the fibre space and base space, play a critical role in determining the Sullivan model of P(E). We also provide the homogeneous space of P(E) when n = 2. Finally, we prove the formality of P(E) over a homogeneous space of equal rank.

Limitations may include the complexity of computing minimal models for higher-dimensional bundles.

Understanding the rational homotopy type of projectivized bundles facilitates computations in algebraic topology and differential geometry, potentially aiding in applications such as topological data analysis and geometric modelling.

While the direct social impact may be indirect, advancements in algebraic topology contribute to broader mathematical knowledge, which can underpin developments in science, engineering, and technology with societal benefits.

The paper’s originality lies in its application of Sullivan minimal models to determine the rational homotopy type of projectivized bundles over complex projective spaces, offering valuable insights into the algebraic structure of these spaces and their associated complex vector bundles.

Due to the important and extensive use of graphene in the engineering structures, the purpose of this paper is to investigate the low-velocity impact (LVI) response of a graphene-reinforced plate with a rectangular central hole.

In this paper, Halpin-Tsai theory is used to model the mechanical properties of the plate made of polymethyl methacrylate (PMMA) resin and graphene particles. First, the plate displacement field is presented, and then the strains and stresses are obtained. The motion equations are extracted using energy equations, Ritz method and generalized Lagrange equations. The verification of theoretical formulation shall be carried out using the ABAQUS finite element software suite.

The effects of graphene volume fraction, approaching the impact point to the corner of the rectangular plate, and different boundary conditions of the plate are studied for LVI of impactor with spherical tip on the rectangular central hole reinforced by graphene. Important responses of the impact, such as the contact force between the impactor and the plate as well as the displacement of the plate at the impact place, are investigated and analyzed in this research.

Considering the wide application of graphene in the engineering structures, the simulation of the LVI on the graphene-reinforced plate made of PMMA resin with a rectangular central hole is carried out in this paper using numerical and theoretical modeling.

The main aim of the current paper is to find a numerical plan for hydraulic fracturing problem with application in extracting natural gases and oil.

First, time discretization is accomplished via Crank-Nicolson and semi-implicit techniques. At the second step, a high-order finite element method using quadratic triangular elements is proposed to derive the spatial discretization. The efficiency and time consuming of both obtained schemes will be investigated. In addition to the popular uniform mesh refinement strategy, an adaptive mesh refinement strategy will be employed to reduce computational costs.

Numerical results show a good agreement between the two schemes as well as the efficiency of the employed techniques to capture acceptable patterns of the model. In central single-crack mode, the experimental results demonstrate that maximal values of displacements in x- and y- directions are 0.1 and 0.08, respectively. They occur around both ends of the line and sides directly next to the line where pressure takes impact. Moreover, the pressure of injected fluid almost gained its initial value, i.e. 3,000 inside and close to the notch. Further, the results for non-central single-crack mode and bifurcated crack mode are depicted. In central single-crack mode and square computational area with a uniform mesh, computational times corresponding to the numerical schemes based on the high order finite element method for spatial discretization and Crank-Nicolson as well as semi-implicit techniques for temporal discretizations are 207.19s and 97.47s, respectively, with 2,048 elements, final time T = 0.2 and time step size τ = 0.01. Also, the simulations effectively illustrate a further decrease in computational time when the method is equipped with an adaptive mesh refinement strategy. The computational cost is reduced to 4.23s when the governed model is solved with the numerical scheme based on the adaptive high order finite element method and semi-implicit technique for spatial and temporal discretizations, respectively. Similarly, in other samples, the reduction of computational cost has been shown.

This is the first time that the high-order finite element method is employed to solve the model investigated in the current paper.

To provide high torques needed to move a robot’s links, electric actuators are followed by a transmission system with a high transmission rate. For instance, gear ratios of 100:1 are often used in the joints of a robotic manipulator. This results into an actuator with large mechanical impedance (also known as nonback-drivable actuator). This in turn generates high contact forces when collision of the robotic mechanism occur and can cause humans’ injury. Another disadvantage of electric actuators is that they can exhibit overheating when constant torques have to be provided. Comparing to electric actuators, pneumatic actuators have promising properties for robotic applications, due to their low weight, simple mechanical design, low cost and good power-to-weight ratio. Electropneumatically actuated robots usually have better friction properties. Moreover, because of low mechanical impedance, pneumatic robots can provide moderate interaction forces which is important for robotic surgery and rehabilitation tasks. Pneumatic actuators are also well suited for exoskeleton robots. Actuation in exoskeletons should have a fast and accurate response. While electric motors come against high mechanical impedance and the risk of causing injuries, pneumatic actuators exhibit forces and torques which stay within moderate variation ranges. Besides, unlike direct current electric motors, pneumatic actuators have an improved weight-to-power ratio and avoid overheating problems.

The aim of this paper is to analyze a nonlinear optimal control method for electropneumatically actuated robots. A two-link robotic exoskeleton with electropneumatic actuators is considered as a case study. The associated nonlinear and multivariable state-space model is formulated and its differential flatness properties are proven. The dynamic model of the electropneumatic robot is linearized at each sampling instance with the use of first-order Taylor series expansion and through the computation of the associated Jacobian matrices. Within each sampling period, the time-varying linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. An H-infinity controller is designed for the linearized model of the robot aiming at solving the related optimal control problem under model uncertainties and external perturbations. An algebraic Riccati equation is solved at each time-step of the control method to obtain the stabilizing feedback gains of the H-infinity controller. Through Lyapunov stability analysis, it is proven that the robot’s control scheme satisfies the H-infinity tracking performance conditions which indicate the robustness properties of the control method. Moreover, global asymptotic stability is proven for the control loop. The method achieves fast convergence of the robot’s state variables to the associated reference trajectories, and despite strong nonlinearities in the robot’s dynamics, it keeps moderate the variations of the control inputs.

In this paper, a novel solution has been proposed for the nonlinear optimal control problem of robotic exoskeletons with electropneumatic actuators. As a case study, the dynamic model of a two-link lower-limb robotic exoskeleton with electropneumatic actuators has been considered. The dynamic model of this robotic system undergoes first approximate linearization at each iteration of the control algorithm around a temporary operating point. Within each sampling period, this linearization point is defined by the present value of the robot’s state vector and by the last sampled value of the control inputs vector. The linearization process relies on first-order Taylor series expansion and on the computation of the associated Jacobian matrices. The modeling error which is due to the truncation of higher-order terms from the Taylor series is considered to be a perturbation which is asymptotically compensated by the robustness of the control algorithm. To stabilize the dynamics of the electropneumatically actuated robot and to achieve precise tracking of reference setpoints, an H-infinity (optimal) feedback controller is designed. Actually, the proposed H-infinity controller for the model of the two-link electropneumatically actuated exoskeleton achieves the solution of the associated optimal control problem under model uncertainty and external disturbances. This controller implements a min-max differential game taking place between: (i) the control inputs which try to minimize a cost function which comprises a quadratic term of the state vector’s tracking error and (ii) the model uncertainty and perturbation inputs which try to maximize this cost function. To select the stabilizing feedback gains of this H-infinity controller, an algebraic Riccati equation is being repetitively solved at each time-step of the control method. The global stability properties of the H-infinity control scheme are proven through Lyapunov analysis.

Pneumatic actuators are characterized by high nonlinearities which are due to air compressibility, thermodynamics and valves behavior and thus pneumatic robots require elaborated nonlinear control schemes to ensure their fast and precise positioning. Among the control methods which have been applied to pneumatic robots, one can distinguish differential geometric approaches (Lie algebra-based control, differential flatness theory-based control, nonlinear model predictive control [NMPC], sliding-mode control, backstepping control and multiple models-based fuzzy control). Treating nonlinearities and fault tolerance issues in the control problem of robotic manipulators with electropneumatic actuators has been a nontrivial task.

The novelty of the proposed control method is outlined as follows: preceding results on the use of H-infinity control to nonlinear dynamical systems were limited to the case of affine-in-the-input systems with drift-only dynamics. These results considered that the control inputs gain matrix is not dependent on the values of the system’s state vector. Moreover, in these approaches the linearization was performed around points of the desirable trajectory, whereas in the present paper’s control method the linearization points are related with the value of the state vector at each sampling instance as well as with the last sampled value of the control inputs vector. The Riccati equation which has been proposed for computing the feedback gains of the controller is novel, so is the presented global stability proof through Lyapunov analysis. This paper’s scientific contribution is summarized as follows: (i) the presented nonlinear optimal control method has improved or equally satisfactory performance when compared against other nonlinear control schemes that one can consider for the dynamic model of robots with electropneumatic actuators (such as Lie algebra-based control, differential flatness theory-based control, nonlinear model-based predictive control, sliding-mode control and backstepping control), (ii) it achieves fast and accurate tracking of all reference setpoints, (iii) despite strong nonlinearities in the dynamic model of the robot, it keeps moderate the variations of the control inputs and (iv) unlike the aforementioned alternative control approaches, this paper’s method is the only one that achieves solution of the optimal control problem for electropneumatic robots.

The use of electropneumatic actuation in robots exhibits certain advantages. These can be the improved weight-to-power ratio, the lower mechanical impedance and the avoidance of overheating. At the same time, precise positioning and accurate execution of tasks by electropneumatic robots requires the application of elaborated nonlinear control methods. In this paper, a new nonlinear optimal control method has been developed for electropneumatically actuated robots and has been specifically applied to the dynamic model of a two-link robotic exoskeleton. The benefit from using this paper’s results in industrial and biomedical applications is apparent.

A comparison of the proposed nonlinear optimal (H-infinity) control method against other linear and nonlinear control schemes for electropneumatically actuated robots shows the following: (1) Unlike global linearization-based control approaches, such as Lie algebra-based control and differential flatness theory-based control, the optimal control approach does not rely on complicated transformations (diffeomorphisms) of the system’s state variables. Besides, the computed control inputs are applied directly on the initial nonlinear model of the electropneumatic robot and not on its linearized equivalent. The inverse transformations which are met in global linearization-based control are avoided and consequently one does not come against the related singularity problems. (2) Unlike model predictive control (MPC) and NMPC, the proposed control method is of proven global stability. It is known that MPC is a linear control approach that if applied to the nonlinear dynamics of the electropneumatic robot, the stability of the control loop will be lost. Besides, in NMPC the convergence of its iterative search for an optimum depends on initialization and parameter values selection and consequently the global stability of this control method cannot be always assured. (3) Unlike sliding-mode control and backstepping control, the proposed optimal control method does not require the state-space description of the system to be found in a specific form. About sliding-mode control, it is known that when the controlled system is not found in the input-output linearized form the definition of the sliding surface can be an intuitive procedure. About backstepping control, it is known that it cannot be directly applied to a dynamical system if the related state-space model is not found in the triangular (backstepping integral) form. (4) Unlike PID control, the proposed nonlinear optimal control method is of proven global stability, the selection of the controller’s parameters does not rely on a heuristic tuning procedure, and the stability of the control loop is assured in the case of changes of operating points. (5) Unlike multiple local models-based control, the nonlinear optimal control method uses only one linearization point and needs the solution of only one Riccati equation so as to compute the stabilizing feedback gains of the controller. Consequently, in terms of computation load the proposed control method for the electropneumatic actuator’s dynamics is much more efficient.