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With the increasing demands of industrial applications, it is imperative for robots to accomplish good contact-interaction with dynamic environments. Hence, the purpose of this research is to propose an adaptive fractional-order admittance control scheme to realize a robot–environment contact with high accuracy, small overshoot and fast response.

Fractional calculus is introduced to reconstruct the classical admittance model in this control scheme, which can more accurately describe the complex physical relationship between position and force in the interaction process of the robot–environment. In this control scheme, the pre-PID controller and fuzzy controller are adopted to improve the system force tracking performance in highly dynamic unknown environments, and the fuzzy controller is used to improve the trajectory, transient and steady-state response by adjusting the pre-PID integration gain online. Furthermore, the stability and robustness of this control algorithm are theoretically and experimentally demonstrated.

The excellent force tracking performance of the proposed control algorithm is verified by constructing highly dynamic unstructured environments through simulations and experiments. In simulations and experiments, the proposed control algorithm shows satisfactory force tracking performance with the advantages of fast response speed, little overshoot and strong robustness.

The control scheme is practical and simple in the actual industrial and medical scenarios, which requires accurate force control by the robot.

A new fractional-order admittance controller is proposed and verified by experiments in this research, which achieves excellent force tracking performance in dynamic unknown environments.

The purpose of this paper is to find a simpler model for the reactance components in the high-frequency range on the premise of ensuring the accuracy.

In this paper, based on the fractional calculus theory and the traditional integer-order model, a reactance model suitable for high frequency is constructed, and the mutation cross differential evolution algorithm is used to identify the parameters in the model.

By comparing the integer-order model, high-frequency fractional-order model and the actual impedance characteristic curve of inductance and capacitance, it is verified that the proposed model can more accurately reflect the high-frequency characteristics of inductance and capacitance. The simulation and experimental results show that the oscillator constructed based on the proposed model can analyze the frequency and output waveform of the oscillator more accurately.

The model proposed in this paper has a simple structure and contains only two parameters to be identified. At the same time, the model has high precision. The fitting errors of impedance curve and phase-frequency characteristic curve are less than 5%. Therefore, the proposed model is helpful to improve the simplicity and accuracy of circuit system analysis and design.

This study aims to offer a hybrid stand-alone system for electric vehicle (EV) charging stations (CS), an emerging power scheme due to the availability of renewable and environment-friendly energy sources. This paper presents the analysis of a photovoltaic (PV) with an adaptive neuro-fuzzy inference system (ANFIS) algorithm, solid oxide fuel cell (SOFC) and a battery storage scheme incorporated for EV CS in a stand-alone mode. In previous studies, either the hydrogen fuel of SOFC or the irradiance is controlled using artificial neural network. These parameters are not controlled simultaneously using an ANFIS-based approach. The ANFIS-based stand-alone hybrid system controlling both the fuel flow of SOFC and the irradiance of PV is discussed in this paper.

The ANFIS algorithm provides an efficient estimation of maximum power (MP) to the nonlinear voltage–current characteristics of a PV, integrated with a direct current–direct current (DC–DC) converter to boost output voltage up to 400 V. The issue of fuel starvation in SOFC due to load transients is also mitigated using an ANFIS-based fuel flow regulator, which robustly provides fuel, i.e. hydrogen per necessity. Furthermore, to ensure uninterrupted power to the CS, PV is integrated with a SOFC array, and a battery storage bank is used as a backup in the current scenario. A power management system efficiently shares power among the aforesaid sources.

A comprehensive simulation test bed for a stand-alone power system (PV cells and SOFC) is developed in MATLAB/Simulink. The adaptability and robustness of the proposed control paradigm are investigated through simulation results in a stand-alone hybrid power system test bed.

The simulation results confirm the effectiveness of the ANFIS algorithm in a stand-alone hybrid power system scheme.

These implementations not only generate excessive voltage levels to enhance the quality of power but also include a detailed investigating of the various modulation methods and control schemes for multilevel inverter (MLI) topologies. Reduced harmonic modulation technology is used to produce 11-level output voltage with the production of renewable energy applications. The simulation is done in the MATLAB/Simulink for 11-level symmetric MLI and is correlated with the conventional inverter design.

This paper is focused on investigating the different types of asymmetric, symmetric and hybrid topologies and control methods used for the modular multilevel inverter (MMI) operation. Classical MLI configurations are affected by performance issues such as poor power quality, uneconomic structure and low efficiency.

The variations in both carrier and reference signals and their performance are analyzed for the proposed inverter topologies. The simulation result compares unipolar and bipolar pulse-width modulation (PWM) techniques with total harmonic distortion (THD) results. The solar-fed 11-level MMI is controlled using various modulation strategies, which are connected to marine emergency lighting loads. Various modulation techniques are used to control the solar-fed 11-level MMI, which is connected to marine emergency lighting loads. The entire hardware system is controlled by using SPARTAN 3A field programmable gate array (FPGA) board and the least harmonics are obtained by improving the power quality.

The simulation result compares unipolar and bipolar PWM techniques with THD results. Various modulation techniques are used to control the solar-fed 11-level MMI, which is connected to marine emergency lighting loads. The entire hardware system is controlled by a SPARTAN 3A field programmable gate array (FPGA) board, and the power quality is improved to achieve the lowest harmonics possible.

Control-signal-to-output-voltage transfer function of the conventional boost converter has at least one right-half plane zero (RHPZ) in the continuous conduction mode which can restrict the open-loop bandwidth of the converter. This problem can complicate the control design for the load voltage regulation and conversely, impact on the stability of the closed-loop system. To remove this positive zero and improve the dynamic performance, this paper aims to suggest a novel boost topology with a step-up voltage gain by developing the circuit diagram of a conventional boost converter.

Using a transformer, two different pathways are provided for a classical boost circuit. Hence, the effect of the RHPZ can be easily canceled and the voltage gain can be enhanced which provides conditions for achieving a smaller working duty cycle and reducing the voltage stress of the power switch. Using this technique makes it possible to achieve a good dynamic response compared to the classical boost converter.

The observations show that the phase margin of the proposed boost converter can be adequately improved, its bandwidth is largely increased, due to its minimum-phase structure through RHPZ cancellation. It is suitable for fast dynamic response applications such as micro-inverters and fuel cells.

The introduced method is analytically studied via determining the state-space model and necessary criteria are obtained to achieve a minimum-phase structure. Practical observations of a constructed prototype for the voltage conversion from 24 V to 100 V and various load conditions are shown.

Conventional isolated dc–dc converters offer an efficient solution for performing voltage conversion with a large improved voltage gain. However, the small-signal analysis of these converters shows that a right-half-plane (RHP) zero appears in their control-to-output transfer function, exhibiting a nonminimum-phase stability. This RHP zero can limit the frequency response and dynamic specifications of the converters; therefore, the output voltage response is sluggish. To overcome these problems, the purpose of this study is to analyze, model and design a new isolated forward single-ended primary-inductor converter (IFSEPIC) through RHP zero alleviation.

At first, the normal operation of the suggested IFSEPIC is studied. Then, its average model and control-to-output transfer function are derived. Based on the obtained model and Routh–Hurwitz criterion, the components are suitably designed for the proposed IFSEPIC, such that the derived dynamic model can eliminate the RHP zero.

The advantages of the proposed IFSEPIC can be summarized as: This converter can provide conditions to achieve fast dynamic behavior and minimum-phase stability, owing to the RHP zero cancellation; with respect to conventional isolated converters, a larger gain can be realized using the proposed topology; thus, it is possible to attain a smaller operating duty cycle; for conventional isolated converters, transformer core saturation is a major concern, owing to a large magnetizing current. However, the average value of the magnetizing current becomes zero for the proposed IFSEPIC, thereby avoiding core saturation, particularly at high frequencies; and the input current of the proposed converter is continuous, reducing input current ripple.

The key benefits of the proposed IFSEPIC are shown via comparisons. To validate the design method and theoretical findings, a practical implementation is presented.

Proactive risk assessment suggests that risk assessment should emphasize the consequences that it might cause and the opportunities it might create for firms. Hence, this study aims to validate risk impact on supply chain performance in the context of the Vietnamese construction sector. Also, a complex network, in which multiple risk factors mutually affect, impede or promote each other, is developed to assist managers in tackling unpredictable risks proactively. In particular, the authors investigate whether certain risks could be considered either challenges or opportunities for businesses in turbulent times to improve SC performance.

The construction industry is the focal study context as it is one of the most essential industries in charge of providing accommodations, infrastructures and employment for society. 289 valid responses used in this research are from a large-scale survey result, supported by a Japanese government project promoting sustainable socio-economic development in Vietnam.

From the study findings, the authors find that external risk brings opportunities for supply chain performance. Meanwhile, demand risk, when it occurs, can reduce the danger level of operational risk, which is an interesting finding of this research. It is evident that when multiple risk factors mutually affect, impede or promote each other, it provides a more meaningful examination of mutually interconnected supply chain risks.

Practitioners should perceive risks as an opportunity than a threat. This study contributes to preventing risks and guaranteeing an effective and efficient supply chain by tackling unpredictable risks in a disruptive period. Moreover, data on validating research models collected during the Covid-19 pandemic and Ukraine and Russia conflicts reflect the topicality of this study.

Rolling element bearings (REBs) are commonly used in rotating machinery such as pumps, motors, fans and other machineries. The REBs deteriorate over life cycle time. To know the amount of deteriorate at any time, this paper aims to present a prognostics approach based on integrating optimize health indicator (OHI) and machine learning algorithm.

Proposed optimum prediction model would be used to evaluate the remaining useful life (RUL) of REBs. Initially, signal raw data are preprocessing through mother wavelet transform; after that, the primary fault features are extracted. Further, these features process to elevate the clarity of features using the random forest algorithm. Based on variable importance of features, the best representation of fault features is selected. Optimize the selected feature by adjusting weight vector using optimization techniques such as genetic algorithm (GA), sequential quadratic optimization (SQO) and multiobjective optimization (MOO). New OHIs are determined and apply to train the network. Finally, optimum predictive models are developed by integrating OHI and artificial neural network (ANN), K-mean clustering (KMC) (i.e. OHI–GA–ANN, OHI–SQO–ANN, OHI–MOO–ANN, OHI–GA–KMC, OHI–SQO–KMC and OHI–MOO–KMC).

Optimum prediction models performance are recorded and compared with the actual value. Finally, based on error term values best optimum prediction model is proposed for evaluation of RUL of REBs.

Proposed OHI–GA–KMC model is compared in terms of error values with previously published work. RUL predicted by OHI–GA–KMC model is smaller, giving the advantage of this method.

The purpose of this review paper is to address the substantial challenges of the outdated exoskeletons used for rehabilitation and further study the current advancements in this field. The shortcomings and technological developments in sensing the input signals to enable the desired motions, actuation, control and training methods are explained for further improvements in exoskeleton research.

Search platforms such as Web of Science, IEEE, Scopus and PubMed were used to collect the literature. The total number of recent articles referred to in this review paper with relevant keywords is filtered to 143.

Exoskeletons are getting smarter often with the integration of various modern tools to enhance the effectiveness of rehabilitation. The recent applications of bio signal sensing for rehabilitation to perform user-desired actions promote the development of independent exoskeleton systems. The modern concepts of artificial intelligence and machine learning enable the implementation of brain–computer interfacing (BCI) and hybrid BCIs in exoskeletons. Likewise, novel actuation techniques are necessary to overcome the significant challenges seen in conventional exoskeletons, such as the high-power requirements, poor back drivability, bulkiness and low energy efficiency. Implementation of suitable controller algorithms facilitates the instantaneous correction of actuation signals for all joints to obtain the desired motion. Furthermore, applying the traditional rehabilitation training methods is monotonous and exhausting for the user and the trainer. The incorporation of games, virtual reality (VR) and augmented reality (AR) technologies in exoskeletons has made rehabilitation training far more effective in recent times. The combination of electroencephalogram and electromyography-based hybrid BCI is desirable for signal sensing and controlling the exoskeletons based on user intentions. The challenges faced with actuation can be resolved by developing advanced power sources with minimal size and weight, easy portability, lower cost and good energy storage capacity. Implementation of novel smart materials enables a colossal scope for actuation in future exoskeleton developments. Improved versions of sliding mode control reported in the literature are suitable for robust control of nonlinear exoskeleton models. Optimizing the controller parameters with the help of evolutionary algorithms is also an effective method for exoskeleton control. The experiments using VR/AR and games for rehabilitation training yielded promising results as the performance of patients improved substantially.

Robotic exoskeleton-based rehabilitation will help to reduce the fatigue of physiotherapists. Repeated and intention-based exercise will improve the recovery of the affected part at a faster pace. Improved rehabilitation training methods like VR/AR-based technologies help in motivating the subject.

The paper describes the recent methods for signal sensing, actuation, control and rehabilitation training approaches used in developing exoskeletons. All these areas are key elements in an exoskeleton where the review papers are published very limitedly. Therefore, this paper will stand as a guide for the researchers working in this domain.

The purpose of this paper rapid development of various voltage sag compensation techniques in DC bus using ultra-capacitors (UCs) provides satisfactory results when compared with required peak power demand for shorter duration. Later, UCs have been used as floating capacitors [1] [2]. Various UCs are available based on internal resistances which also rely on its manufacturing materials, similar to double layer capacitors.

This paper demonstrates UCs based voltage sag compensation at load side under different working modes of hydraulic pack (HP) in an armored fighting vehicle (AFV). The main sources to supply the HP are 24 V, 400 Ahr battery bank and 20 kW main generator. HP is considered to be the highest power load of a system. 2,500 A inrush current was drawn by HP during initial conditions, and also, this system works in both elevation and azimuth mode. Voltage sag has been varied from 15 to 24 V for different modes. But as per the military standard, electrical systems should operate between 18 and 32 V DC. Because of insufficient terminal voltage, required energy cannot be attained and supplied to the loads. The proposed topology compensated the voltage sag and maintains nominal voltage on a DC bus. The devised circuit has been verified under all possible operating loads such as continuous, intermittent and momentary. The same has been simulated using MATLAB/Simulink and was experimentally verified. The minimum voltage maintained in a DC bus is 22.2 V in simulation, while experimentally, it was 24.2 V.

For getting higher percentage of efficiency, secondary energy system configuration, mainly designed for electrical vehicles, is needed. It was implemented and same was tested with the fighting vehicle system[1]. The proposed configuration comprises of bank of an UC and a battery bank. The system was finally implemented in AFVs.

The goods vehicles made of UCs can hold very minimum energy because of minimum density of energy. The modified AFV can have minimum charging as well as discharging of rate of energy and, thus, power[3][4]. Thus, the proposed idea of modified vehicle system has influence over significant change in the state of charge.