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The purpose of this paper is to obtain values that stabilize the lateral and longitudinal flight of the quadrotor for which the morphing amount and the best Proportional-Integral-Derivative (PID) coefficients are determined by using the simultaneous perturbation stochastic approximation (SPSA) optimization algorithm.

Quadrotor consists of body and arms; there are propellers at the ends of the arms to take off and rotors that rotate them. By reducing the angle between mechanism 1 and the rotors with the horizontal plane, the angle between mechanism 2 and the arms, the rotors rise and different configurations are obtained. Conventional multi-rotor aircraft has a fixed fuselage and does not need a tail rotor to change course as helicopters do. The translational and rotational movements are provided by the rotation of the rotors of the aircraft at different speeds by creating moments about the geometric center in 6-degree-of-freedom (DOF) space. These commands sent from the ground are provided by the flight control board in the aircraft. The longitudinal and lateral flight stability and properties of different configurations evaluated by dynamic analysis and simulations in 6 DOF spaces are investigated. An algorithm and PID controller are being developed using SPSA to achieve in-flight position and attitude control of an active deformable aircraft. The results are compared with the results of the literature review and the results of the previous article.

With SPSA, the best PID coefficients were obtained in case of morphing.

The effects of quadrotor arm height and hub angle changes affect flight stability. With the SPSA optimization method presented in this study, the attitude is quickly stabilized.

With the optimization method, the most suitable PID coefficients and angle values for the lateral and longitudinal flight stability of the quadrotor are obtained.

The transition rate and PID coefficients are determined by using the optimization method, which is advantageous in terms of cost and practicality.

With the proposed method, the aircraft can change shape to adapt to different environments, and the parameters required for more stable flight for each situation will be calculated, and this will be obtained more quickly and safely with the SPSA optimization method.

The purpose of this paper is to design a climbing robot connected by a connecting rod mechanism to achieve multi-functional tasks such as obstacles crossing and climbing of power transmission towers.

A connecting rod type gripper has been designed to achieve stable grasping of angle steel. Before grasping, use coordination between structures to achieve stable docking and grasping. By using the alternating movements of two claws and the middle climbing mechanism, the climbing and obstacle crossing of the angle steel were achieved.

Through a simple linkage mechanism, a climbing robot has been designed, greatly reducing the overall mass of the robot. It can also carry a load of 1 kg, and the climbing mechanism can perform stable climbing. The maximum step distance of the climbing robot is 543 mm, which can achieve the crossing of angle steel obstacles.

A transmission tower climbing mechanism was proposed by analyzing the working environment. Through the locking ability of the screw nut, stable clamping of the angle steel is achieved, and a pitch mechanism is designed to adjust the posture of the hand claw.

Quadrotors have been applied in various fields. However, because the quadrotor is subject to multiple disturbances, consisting of external disturbances, actuator faults and parameter uncertainties, it is difficult to control the unmanned aerial vehicle (UAV) to achieve high-precision tracking performance. This paper aims to design a safety controller that uses observer and neural network method to improve the tracking performance of UAV under multiple disturbances. The experiments prove that this method is effective.

First, to actively estimate and compensate the synthetic uncertainties of the system, a finite-time extended state observer is investigated, and the disturbances are transformed into the extended state of the system for estimation. Second, an adaptive neural network controller that does not accurately require the dynamic model knowledge is designed based on the estimated value, where the weights of the neural network can be dynamically adjusted by the adaptive law. Furthermore, the finite-time bounded convergence of the proposed observer and the stability of the system are proved through homogeneous theory and Lyapunov method.

The figure-“8” climbing flight simulation and real flight experiments illustrate that the proposed safety control strategy has good tracking performance.

This paper proposes the safety control structure of the UAV, which combines the extended state observer with the neural network method. Numerical simulation results and actual flight experiments demonstrate the effectiveness of the proposed control strategy.

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/

Any consensus about the effects of dihedral angle on hover rigidity of rotary-wing unmanned aerial vehicles (RW-UAVs) does not exist in the literature. There are researchers who state that the dihedral angle has an effect on flight stability and researchers who claim the opposite. The discord stems from the different approaches of these groups to the concept of “stability,” the fact that they conduct experiments whose measurements are largely influenced by environmental conditions, and the physical assumptions are not similar. On the other hand, there is no study examining the effect of dihedral angle on the maneuverability of drones either. This study aims to analytically reveal the consequences of dihedral angles in RW-UAVs in terms of flight agility and maneuverability.

Dihedral angle examinations on both hover rigidity and maneuverability are carried out analytically. Equations of motions for a multicopter’s rigid body with a dihedral angle under two different conditions (zero and nonzero dihedral angles) are derived. Numerical simulations are conducted by defining the simulation parameters, and then displacement graphics for the center of mass are interpreted.

The presence of a dihedral angle makes the multicopter platforms behave like a pendulum, and this pendulum motion affects the disturbance rejection and the planar maneuver capabilities of multicopters. Since deflections can be spread to the orthonormal axes thanks to rotation about a pivot, net deflections of the geometric center may be diminished. Besides, pendulum motion eases the maneuvers with yaw rotations since the required rotation might occur without rotors’ revolution per minute changes.

Proposed dihedral angle implementation may enhance the hover stiffness and maneuverability capabilities of multicopters which, in turn, raise the performance of the drones.

This paper presents the analytical basis for the dihedral angle's effects on flight stability and agility.

This study aims to present a type of metamorphic mechanism-based quadruped crawling robot. The trunk design of the robot has a metamorphic mechanism, which endows it with excellent crawling capability and adaptability in challenging environments.

The robot consists of a metamorphic trunk and four series-connected three-joint legs. First, the walking and steering strategy is planned through the stability and mechanics analysis. Then, the walking and steering performance is examined using virtual prototype technology, as well as the efficacy of the walking and turning strategy.

The metamorphic quadruped crawling robot has wider application due to its variable trunk configuration and excellent leg motion space. The robot can move in two modes (constant trunk and trunk configuration transformation, respectively, while walking and rotating), which exhibits outstanding stability and adaptability in the examination and verification of prototypes.

The design can enhance the capacity of the quadruped crawling robot to move across a complex environment. The virtual prototype technology verifies that the proposed walking and steering strategy has good maneuverability and stability, which considerably expands the application opportunity in the fields of complicated scene identification and investigation.

The research focused on analysing a unique type of heat exchanger that uses swirling air flow over heated tubes. This heat exchanger includes a round baffle plate with holes and opposite-oriented trapezoidal air deflectors attached at different angles. The deflectors are spaced at various distances, and the tubes are arranged in a circular pattern while maintaining a constant heat flux.

This setup is housed inside a circular duct with airflow in the longitudinal direction. The study examined the impact of different inclination angles and pitch ratios on the performance of the heat exchanger within a specific range of Reynolds numbers.

The findings revealed that the angle of inclination significantly affected the flow velocity, with higher angles resulting in increased velocity. The heat transfer performance was best at lower inclination angles and pitch ratios. Flow resistance decreased with increasing angle of inclination and pitch ratio.

The average thermal enhancement factor decreased with higher inclination angles, with the maximum value observed as 0.94 at a pitch ratio of 1 at an angle of 30°.

The purpose of this paper is to study the dynamical properties of a rotating rigid body (RB) containing a viscous incompressible fluid.

The Reynolds number is assumed to be small so that the governing equations can be easily obtained, and the asymptotic technique is used to solve the problem.

The effects of the various body parameter values on the motion’s behavior are theoretically elucidated, which can be used for optimization of the charged RB.

This paper finds the missing piece of the puzzle when it comes to the rotating RB containing a viscous fluid; it clearly elucidates graphically how the body parameters affect its dynamical properties.

The effect of bolt stripping failure on the ductility of steel end plate beam-column connections has received relatively little investigation to date. The objective with the present work is to establish a validated numerical model of end plate connections at elevated temperatures, which predicts the mechanical behaviour and failure modes observed in the experimental tests including the bolt stripping failure. Furthermore, the validated FE model was used to investigate the effect of stripping failure on both the rotational and load-bearing capacity of end plate connection.

The analysis was conducted on a validated numerical model of end plate connections at elevated temperatures, which predicts the mechanical behaviour and failure modes observed in the experimental tests including the bolt stripping failure. The material was modelled considering ductile damage initiation and evolution featured in ABAQUS/Standard.

This study demonstrates that thick end plates can prevent stripping failure which significantly improves the rotational capacity of the connection. This failure mode can develop readily with thin end plates; however the effect is often unrealistically mitigated through idealised experimental tests. The rotational capacity of a connection can be 5.0 times higher if stripping failure is avoided, particularly at elevated temperatures. Eurocode 3 part 1.8 does not consider the possibility of stripping failure when discussing the requirements for plastic analysis. It is concluded in the present study that by allowing for the possibility of bolt stripping, the mode of failure can often shift from end plate failure to bolt stripping, this in turn significantly reduces the connection rotational capacity.

The effect of bolt stripping failure on the ductility of steel end plate beam-column connections has received relatively little investigation to date.

This paper aims to design an active shock absorber scheme for use in conjunction with a passive shock absorber to suppress the horizontal vibration of elevator cars in a smaller range and shorter time. The developed active shock absorber will also improve the safety and comfort of passengers driving in ultra-high-speed elevators.

A six-degree of freedom dynamic model is established according to the position and condition of the car. Then the active shock absorber and disturbance compensation-based adaptive control scheme are designed and simulated in MATLAB/Simulink. The results are analysed and compared with the traditional shock absorber.

The results show that, compared with traditional spring-based passive damping systems, the designed active shock absorber can reduce vibration displacement by 60%, peak acceleration by 50% and oscillation time by 2/3 and is more robust to different spring stiffness, damping coefficient and load.

The developed active shock absorber and its control algorithm can significantly reduce vibration amplitude and converged time. It can also adjust the damping strength according to the actual load of the elevator car, which is more suitable for high-speed elevators.