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A switching depth controller based on a variable buoyancy system (VBS) is proposed to improve the performance of small autonomous underwater vehicles (AUVs). First, the requirements of VBS for small AUVs are analyzed. Second, a modular VBS with high extensibility and easy integration is proposed based on the concepts of generality and interchangeability. Subsequently, a depth-switching controller is proposed based on the modular VBS, which combines the best features of the linear active disturbance rejection controller and the nonlinear active disturbance rejection controller.

The controller design and endurance of tiny AUVs are challenging because of their low environmental adaptation, limited energy resources and nonlinear dynamics. Traditional and single linear controllers cannot solve these problems efficiently. Although the VBS can improve the endurance of AUVs, the current VBS is not extensible for small AUVs in terms of the differences in individuals and operating environments.

The switching controller’s performance was examined using simulation with water flow and external disturbances, and the controller’s performance was compared in pool experiments. The results show that switching controllers have greater effectiveness, disturbance rejection capability and robustness even in the face of various disturbances.

A high degree of standardization and integration of VBS significantly enhances the performance of small AUVs. This will help expand the market for small AUV applications.

This solution improves the extensibility of the VBS, making it easier to integrate into different models of small AUVs. The device enhances the endurance and maneuverability of the small AUVs by adjusting buoyancy and center of gravity for low-power hovering and pitch angle control.

This paper aims to study the influence of cylindrical texture parameters on the lubrication performance of static and dynamic pressure thrust bearings (hereinafter referred to as thrust bearings) and to optimize their lubrication performance using multiobjective optimization.

The influence of texture parameters on the lubrication performance of thrust bearings was studied based on the modified Reynolds equation. The objective functions are predicted through the BP neural network, and the texture parameters were optimized using the improved multiobjective ant lion algorithm (MOALA).

Compared with smooth surface, the introduction of texture can improve the lubrication properties. Under the optimization of the improved algorithm, when the texture diameter, depth, spacing and number are approximately 0.2 mm, 0.5 mm, 5 mm and 34, respectively, the loading capacity is increased by around 27.7% and the temperature is reduced by around 1.55°C.

This paper studies the effect of texture parameters on the lubrication properties of thrust bearings based on the modified Reynolds equation and performs multiobjective optimization through an improved MOALA.

This paper aims to study the impact of transient velocity changes on sealing performance during reciprocating sealing processes.

Establish a model of transient mixed lubrication, solve the transient Reynolds equation, consider the effect of temperature rise at the seal interfaces, and determine the behavior of the seal interfaces, such as film thickness and fluid pressure. Evaluation with friction and leakage rate, calculate the variation of sealing performance with reciprocating velocity under different working conditions, and verify it through bench experiments.

Within a reciprocating stroke, the frictional force decreases with increasing velocity, and the frictional force of the outstroke is greater than that of the instroke; at the time of the stroke transition, the fluid pressure is smallest and the rough peak contact pressure is greatest. At present, the dynamic pressure effect of fluids is the largest, and the friction force also increases, which increases the risk of material wear and failure. Friction and leakage increase with increasing pressure and root mean square roughness. As temperature increases, friction increases and leakage decreases. In studying the performance variations of seal components through a reciprocating sealing experiment, it was found that the friction force decreases with increasing velocity, which is consistent with the calculated results and more similar to the calculated results considering the temperature rise.

This study provides a reference for the study of transient sealing performance.

Stiffness adjusting ability is essential for soft robotic arms to perform complex tasks. A soft state enables dexterous operation and safe interaction, while a rigid state enables large force output or heavy weight carrying. However, making a compact integration of soft actuators with powerful stiffness adjusting mechanisms is challenging. This study aims to develop a piston-like particle jamming mechanism for enhanced stiffness adjustment of a soft robotic arm.

The arm has two pairs of differential tendons for spatial bending, and a jamming core consists of four jamming units with particles sealed inside braided tubes for stiffness adjustment. The jamming core is pushed and pulled smoothly along the tendons by a piston, which is then driven by a motor and a ball screw mechanism.

The tip displacement of the arm under 150 N jamming force and no more than 0.3 kg load is minimal. The maximum stiffening ratio measured in the experiment under 150 N jamming force is up to 6–25 depends on the bending direction and added load of the arm, which is superior to most of the vacuum powered jamming method.

The proposed robotic arm makes an innovative compact integration of tendon-driven robotic arm and motor-driven piston-like particle jamming mechanism. The jamming force is much larger compared to conventional vacuum-powered systems and results in a superior stiffening ability.

The purpose of this paper is to understand the effect of basin water depth towards the cumulative distillate yield of the traditional and developed single basin double slope solar still (DSSS).

Modified single basin DSSS integrated with solar operated vacuum fan and external water cooled condenser was fabricated using aluminium material. During sunny season, experimental investigations have been performed in both conventional and modified DSSS at a basin water depth of 3, 6, 9 and 12 cm. Production rate and cumulative distillate yield obtained in traditional and developed DSSS at different water depths were compared and best water depth to attain the maximum productivity and cumulative distillate yield was found out.

Results indicated that both traditional and modified double SS produced maximum yield at the minimum water depth of 3 cm. Cumulative distillate yield of the developed SS was 16.39%, 18.86%, 15.22% and 17.07% higher than traditional at water depths of 3, 6, 9 and 12 cm, respectively. Cumulative distillate yield of the developed SS at 3 cm water depth was 73.17% higher than that of the traditional SS at 12 cm depth.

Performance evaluation of DSSS at various water depths by integrating the combined solar operated Vacuum fan and external Condenser.

This paper aims to study the motion trajectory of the oil seal for shaft in eccentric state and derive equation of lip motion trajectory.

This paper analyzes the force during the motion of the eccentric lip by considering the material viscoelasticity, and a cam-plate mechanism is established as an equivalent model for the motion between the shaft and the lip; according to this, the equation of lip motion trajectory is derived.

The trajectory of the lip lags that of the shaft in the eccentric state because the viscoelasticity-affected lip recovery velocity is lower than the shaft recovery speed. The lip trajectory enters the lag phase earlier and the lag phase’s duration is longer with the increase of the eccentricity and rotational speed, because the deviation of the recovery velocities between the lip and the shaft will be exacerbated.

Innovatively, by considering the viscoelasticity of the material, the cam-plate mechanism is used to equivalent the motion of the shaft-lip to derive the equation for the radial motion trajectory of the eccentric lip. The regularity of lip motion is the key to determining the performance of oil seals, and the eccentric lip trajectory research method revealed in this paper provides a research basis for the performance research and optimization of eccentric oil seals.

The peer review history for this article is available at: https://publons.com/publon/10.1108/ILT-06-2023-0161/