Mechatronics

Piezoelectric nanopositioning systems exhibit low damping and resonance modes that are highly sensitive to loading conditions, resulting in performance degradation under payload variations. Conventional damping and robust control methods typically address these challenges separately, overlooking the coupling between damping and tracking dynamics as well as the influence of higher-order resonant m…

This paper is concerned by the port-Hamiltonian modeling and control of a dielectric elastomer actuator designed for use in a cardiac assist device. The proposed nonlinear model captures the actuator’s hyperelastic material behavior, viscoelastic damping, and electromechanical coupling, and remains valid for large deformations up to 40 %. An original Interconnection and Damping Assignment Passivi…

Understanding driving risks for older drivers is a critical challenge for traffic safety. Recent advances in multimodal large language models (LLMs) raise the possibility that such models may support scene-level interpretation beyond conventional object detection. However, little is known what extent current LLMs can emulate the integrated, human-like judgments required for older driver diagnosti…

Sensorless control technology shows promising application prospects in electromagnetic sled systems due to its advantages of high reliability and cost-effectiveness. However, electromagnetic sled systems present special operating conditions including high power, short-duration operation, reciprocating motion, time-varying parameters, and strong nonlinear disturbances, imposing higher demands on t…

3D scene graph (3DSG) generation is a rapidly evolving field that plays a significant role in robotic autonomy. Traditionally, the focus has been on indoor environments, where robots understand and navigate spaces by abstracting objects and geometric information in a structured graph format. Expanding upon this idea, this paper introduces a 3DSG construction architecture, which enables scene-agno…