The paper considers the possibility of rotating a small moon by 180 degrees from a dynamic point of view using two rocket engines mounted on the surface of the moon. A thrust control law for the engines which allows to turn the moon over and then stabilize it relative to a new equilibrium position by parrying a gravity gradient torque is proposed. The dynamic aspects of such an experiment are discussed using the example of the Mars satellite Deimos.

Two beneficial characteristics of aircraft generators are having armature windings and PM excitation sources placed on the stator side (maintenance and thermal management) and having a clear-cut rotor without permanent magnets or excitation windings (vulnerable at high speeds due to associated centripetal mechanical stresses). Within this framework, a doubly-salient permanent magnet (DSPM) generator was conceived by optimizing the stator size and rotor structure to minimize the torque ripple and maximize the RMS voltage value per turn of each generator phase. A Multi-Objective Design Strategy based on a 2D finite element analysis was used, being set to have characteristics closest to optimal for a Boeing 767 turbine, that is, the necessary electromotive force for a required power of 90 kW at 3000 rpm, feeding a simplified Boeing 767 electrical power distribution system. The results show that the machine could not deliver the required power at 3000 rpm since the 2D finite elements analysis demonstrates that the 2D model gives optimistic results when compared with the 3D FEM model. However, with a 3D finite element analysis of the machine feeding the aircraft load, it was seen that the machine’s efficiency is 92%, suggesting this machine can be a plausible solution.

More than 20 years after the discovery of the first anelloviruses (AVs), they still remain a mysterious group of viruses. To date, there is no clear understanding of their impact on the host organism, although information is emerging about their participation in various pathologies. However, it is well known that AVs are an important component of the human virome. In the current study we assessed the abundance of AVs in viromes from four nasal and pharyngeal samples from children with respiratory symptoms using a metagenomic approach. It is worth noting that three patients had known respiratory viruses and one did not have any. Regarding AVs, they were detected in all samples, namely Torque teno mini virus (TTMV). The greatest abundance and diversity of AVs (Torque teno virus (TTV), TTMV and Torque teno midi virus (TTMDV)) were shown in a diseased patient with an absence of respiratory viruses, which may indicate the potential involvement of AVs in the maintenance of respiratory symptoms. An activated immune system to combat the main pathogens, against the background of which the number of AVs decreases, is discussed as a possible reason for the reduced diversity of anellome in other patients. We also compared the results of the metagenomic approach and qPCR for major respiratory viruses, which were in agreement. In addition, metagenomic sequencing made it possible to obtain additional data on viral genomes in order to establish their taxonomic identification and characterize individual viral profiles in patients from the Siberian part of Russia.

In this paper, by evaluating extreme value of the qth-power current, a torque sharing function (TSF) family for reducing the torque ripples in the switched reluctance motor (SRM) is proposed. The optimization criteria of the TSF has two secondary objectives, including the maximization of the torque-speed range and the minimization of copper loss. The evaluation indices in terms of the peak phase current, the rms phase current, and the torque ripple factor are compared between the proposed TSF family and four conventional TSFs including linear, sinusoidal, exponential, and cubic TSFs. An optimization objective function that combines the maximum absolute value of the rate-of-change of the flux linkage (MAV-RCFL) and the qth-power of current is proposed and a weighting factor is used to balance the influence of the two optimization objectives. An optimal TSF can be easily obtained by solving the optimization problem from the TSF family. The proposed TSF is validated by using simulations and experiments with a three-phase 6/4 SRM with 7.5 kW, 3000 rpm, and 270 V DC-link voltage. The dynamic simulation model is implemented in Matlab/Simulink. The results demonstrate the validity and superiority of the proposed control method; the optimal TSF provides better torque-speed performance, and a better reduction in copper loss and torque ripples at high speed compared to the conventional TSFs obviously.

The aim of this study was to evaluate the effect of two different insertion speeds at 8 different insertion torque values ranging from 25-60 during implantation in a dense polyurethane D1 bone model on the placement status and removal torque of dental implants. In this study, 50 pcf single layer polyurethane plates were used. In the study, a total of 320 implant sockets were divided into 2 groups as Group 1 (30 rpm) and Group 2 (50 rpm) in terms of insertion speed. Group 1 and Group 2 were divided into 8 subgroups as 25, 30, 35, 40, 45, 50, 55 and 60 torques. There were 20 implant sockets in each subgroup. During the implantations, implant placement status and removal torque values were assessed. There was a statistically significant difference between the 30 and 50 RPM groups in terms of overall implant placement status (p<0.01). It was found that the removal torque values at 50 RPM were statistically significantly higher than those at 30 RPM (p<0.01). This study showed that in dense D1 bone, the minimum parameters at which all implants could be placed at bone level were 50 torque at 30 rpm and 40 torque at 50 rpm.

As well known, the torque produced by a rotating motor generates an opposite and equal reaction torque in the machine casing that must be transmitted to the base. In many applications, especially when the reaction moment has high values, it is necessary to apply some constructive solutions, which in certain cases are difficult to implement. In this context, the need to reduce the reaction moment from drive motors is a challenging topic, which has not been completely exhausted. In this paper, the authors present an original concept of a device which uses the centrifugal force generated by some equidistantly placed weights on a chain drive, for reducing the reaction torque of the motor used for driving a rotating tool. The proposed system is capable to produce a supplementary torque which can be added to driving moment. Due to this fact, by using this system, the power of the driving motor can be decreased, with the consequence of reducing the reaction moment, that must be absorbed by the base.

The aim of this study was to compare the screw removal torque of mini conical prosthetic components and straight trunnion of indexed morse taper implants, after mechanical cycling. The sample consisted of 40 implants and 20 mini-conical prosthetic components (MC group) and 20 straight trunnion components (ST group). Each group consisted of 10 specimens, with 2 implants in each, and cobalt-chromium metallic crowns were screwed into each sample. The components of the MC group received a torque of 20 N.cm with a digital torque wrench and after 10 minutes were retightened with the same value as the initial torque. The components of the ST group received a torque of 30 N.cm, with a digital torque wrench and after 10 minutes, they were retightened with the same value. The screws of the respective crowns of the two groups received a torque of 10 N.cm and after 10 minutes were retightened with the same value. Each group was subjected to the fatigue test in a mechanical cycler at 2.000.000 cycles, with a load of 250 N and frequency of 4 Hz. At the end of the fatigue test, the loosening torque of each screw of the specimens was measured through a digital torque wrench. The data were analyzed by two-way ANOVA and Tukey test. In both groups, there were loss of torque. The results showed no statistic difference between MC and ST groups.

Keywords: artificial bone; conical implants; cylindrical implants; dental implants; implant stability quotient; insertion torque; polyurethane; post-extraction sites; removal torque.

This article presents a harmonic analysis of the stator currents of a squirrel-cage in-15 duction motor fed by a voltage source inverter with PWM space vector control (SV-PWM). The 16 influence of PWM switching frequency and dead time (dead-band) of controlled transistors on 17 THD and electromagnetic torque ripple is shown. The aim is to determine the lowest switching 18 frequency of the transistors for which the drive will operate correctly. Characteristics were de-19 termined as functions in the form of THD ( ), where the least square approximation was 20 used for stator current measurements when the PWM switching frequency is changed. The ap-21 proximations were realized for simulation and experimental results. To clarify the results, the 22 operation of hardware PWM circuits in microcontrollers was analyzed.

Background: To compare the loss of preload in absence of loading and after a fixed number of ideal masticatory cycles in two different connection systems using all-on-four prosthetic model. Methods: Two equal models of an edentulous mandible rehabilitated with all-on-four technique with two types of abutment system (MUA and OT-Bridge) supporting a hybrid prosthesis, were used. Initial torque values of the prosthetic fixing screw, after ten minutes from initial screw tightening and after 400000 masticatory cycles were registered using a mechanical torque gauge. Differences between initial and final torque values were reported for each anchoring system and the two systems were finally compared. Results: No statistically significant differences regarding the loss of preload between MUA and OT-Bridge system were found after 400000 masticatory cycles; however, in MUA system it was found between anterior and posterior implant screws. A significant difference in preload loss was found only for MUA system comparing the initial screw torque to that measured after 10 minutes from the tightening in absence of cyclic loadings. Conclusions: MUA and OT-Bridge are reliable prosthetic anchoring systems able to tolerate repeated masticatory cycles also on distal cantilever in all-on-four rehabilitation model without any significant loss of preload in screw tightening

(1) Background: To further investigate the link between inadvertent tooth movements (ITMs) and mechanical properties of different retainers, the response upon vertical loading was compared in three different retainers (two stainless steel and one nickel-titanium). The influence of different reference teeth was also considered. (2) Methods: Three retainers (R1, R2, R3) were tested in a newly developed biomechanical analysis system (FRANS). They were bonded to 3D-printed models of the lower anterior jaw and vertically displaced up to 0.3mm. Developing forces and moments were recorded at the center of force. (3) Results: The vertical displacement caused vertical forces (Fz) and labiolingual moments (My) to arise. These were highest in the lateral incisors (up to 2.35±0.59N and 9.27±5.86Nmm for R1; 1.69±1.06N and 7.42±2.65Nmm for R2; 3.28±1.73N and 15.91±9.71Nmm for R3) for all analyzed retainers, and with the R3 retainer for all analyzed reference teeth, while the lowest Fz and My values were recorded with the R1 retainer. (4) Conclusions: Displacements of 0.2mm and larger provided forces and moments which could be sufficient to cause unwanted torque movements, such as ITMs in all analyzed retainers. Clinicians must be mindful of these risks and perform posttreatment checkups on patients with retainers of all materials.

: Innovative solutions are now being researched to manage the ever-increasing amount of data required to optimize the performance of internal combustion engines. Machine Learning ap-proaches have shown to be a valuable tool for signal prediction due to their real-time and cost-effective deployment. Among them, the architecture consisting of Long Short-Term Memory (LSTM) and one-dimensional Convolutional Neural Networks (1DCNN) has emerged as a highly promising and effective option for replacing the role of physical sensors. The architecture com-bines the capacity of LSTM to detect patterns and relationships in smaller segments of the signal with the ability of 1DCNN to detect patterns and relationships in larger segments of the signal. The purpose of this work is to assess the feasibility of substituting a physical device dedicated to calculating the torque supplied by a spark-ignition engine. The suggested architecture was trained and tested using signals from the field during a test campaign conducted under transient operating conditions. The results reveal that LSTM+1DCNN is particularly well suited for signal prediction with considerable variability. It constantly outperforms other architectures used for comparison, with average error percentages of less than 2%, proving the architecture's ability to replace physical sensors.

The study is devoted to the issues of mathematical modeling and simulating the sport differential mechanism (DM) with controllable torque redistribution. The issue is caused by the elaboration of ADAS systems with the automated torque vectoring for transmissions of all-wheel-drive (AWD) vehicles and the inclusion of such devices in the combined autonomous vehicle trajectory control scheme. At the article's beginning, the use of devices for redistributing traction forces is reasoned by analyzing the curvilinear vehicle motion, where they could ensure the accuracy of vehicle steerability. The literature review highlights modern developments in the field of modeling and researching such DMs. Considering the vehicle turn with a minimum radius, the conditions corresponding to passing greater torque over the outrunning rear axle are determined. All the mechanism's components and loads acting between them are described in detail. To form an original method of mathematical description of the mechanism functioning, the system of differential equations, systems of kinematic and force connections are considered separately. The article details the mathematical approach to generalize the way for automating the equation compilation for rotational mechanical systems such as vehicle transmissions. In the simulation section, a Simulink model reflecting the functional components and calculation procedures is presented. A series of testing and simulations on the DM operation with forcible torque distribution is carried out. Modeling data are presented, and the analysis of simulation results is performed. In the completion, conclusions are made regarding the scope and use of this model and the prospects for further developing the method proposed to automate the formation of equation systems.

This study evaluated the mechanical strengths of three types of orthodontic micro-implants by analyzing their structural configurations. Thirty micro-implants of three types (diameter 1.5 mm, Types A, B, C) were assessed. All micro-implants were manually driven into artificial bones at an 8-mm depth. The insertion torque (IT), pullout strength (PS), and gripping volume (GV) of each type were measured. Intergroup comparisons and intragroup correlation were investigated by statistical analysis. Type B had the greatest inner–outer diameter ratio (0.67), and Type A had the smallest (0.53). The IT of Type A (5.26 Ncm) was significantly (p = 0.038) lower than that of Type C (8.8 Ncm). There was no significant difference in the pullout strength (p = 0.868). The GV of Type A (9.7 mm3) was significant (p < 0.01) greater than Type C (8.4 mm3). Type C was significant (p < 0.01) greater than Type B (7.2 mm3). Spearman’s rho rank correlation test showed that PS of Type B was correlated significantly with GV. In conclusion, the design of thread and its GV were the important factors on the mechanical strengths of micro-implant.

Real-time multi-axis distributed tactile sensing is a critical capability if robots are to perform stable gripping and dexterous manipulation, as it provides crucial information about the sensor-object interface. In this paper, we present an optical-based 6-axis tactile sensor designed in a fingertip shape for robotic dexterous manipulation. The distributed sensor can precisely estimate local XYZ force and displacement at ten distinct locations, and provide global XYZ force and torque measurements. Its compact size, comparable to that of a human thumb, and minimal thickness allow seamless integration onto existing robotic fingers, eliminating the need for complex modifications to the gripper. The proposed sensor design uses a simple, low-cost fabrication method. Moreover, the optical transduction approach uses light angle and intensity sensing to infer force and displacement from deformations of individual sensing units that form the overall sensor, providing distributed 6-axis sensing. The local force precision at each sensing unit in the X, Y, and Z axes is 20.89 mN, 19.19 mN, and 43.22 mN, respectively, over an local force range of approximately ±1.5 N in X and Y and 0 to -2 N in Z. The local displacement precision in the X, Y and Z axes is 56.70 μm, 50.18 μm and 13.83 μm, respectively, over a local displacement range of ±2 mm in the XY directions and 0 to -1.5mm in Z (i.e., compression). Additionally, the sensor can measure global torques, Tx, Ty and Tz, with a precision of of 1.90 N-mm, 1.54 N-mm and 1.26 N-mm, respectively. The fabricated design is showcased by integrating it with an OnRobot RG2 gripper and illustrating real-time measurements during in simple demonstration task which generate changing global forces and torques.

The flow field around a straight chain of multiple slip spherical particles rotating steadily in an incompressible Newtonian fluid about their line of centers is analyzed at low Reynolds numbers. The particles may vary in radius, slip coefficient, and angular velocity, and they are permitted to be unevenly spaced. Through the use of a boundary collocation method, the Stokes equation governing the fluid flow is solved semi-analytically. The interaction effects among the particles are found to be noteworthy under appropriate conditions. For the rotation of two spheres, our collocation results for their hydrodynamic torques are in good agreement with the analytical asymptotic solution in the literature obtained by using a method of twin multipole expansions. For the rotation of three spheres, the particle interaction effect indicates that the existence of the third particle can influence the torques exerted on the other two particles noticeably. The interaction effect is stronger on the smaller or less slippery particles than on the larger or more slippery ones. Torque results for the rotation of chains of many particles visibly show the shielding effect among the particles.

Researchers achieved high torque volume ratios in magnetorheological (MR) fluid braking devices by introducing multiple layers and multiple poles concepts. The number of magnetic poles, pole geometry and placement have a significant effect on these multi-pole MR brake performances. This research work focused on the effect of the pole head geometry in a multi-pole dual-disc MR brake for the enhancement of braking torque. The magnetic field generated by the electromagnetic coil has to penetrate through pole heads and travel orthogonally through the rotor and MR fluid layers to achieve maximum brake torque. This flow depends on the profiles of the magnetic pole head area and corresponding core dimensions. This study considered pentagon, square, hexagon, trapezoid and ellipse pole head profiles in place of the conventional circular pole and the best possible core dimensions were used for each geometry. A three-dimensional electromagnetic analysis of the MR brake is conducted to simulate the brake performance. Results showed that the hexagonal and elliptical pole heads are having better magnetic field area, magnetic intensity distribution and higher magnetic flux lines piercing through the MR fluid perpendicularly than the circular and square pole heads. An increment of 3.88% for braking torque performance is obtained, and the braking torque is significantly enhanced.

Measuring the non-pathogenic Torque Teno Virus (TTV) load allows assessing the net immunosuppressive state after kidney transplantation (KTx). Currently, it is not known how exposure to maintenance immunosuppression affects TTV load. We hypothesized that TTV load is associated with the exposure to mycophenolic acid (MPA) and tacrolimus. We performed a prospective study including 54 consecutive KTx. Blood TTV load was measured by an in-house PCR at months 1 and 3. Together with doses and trough blood levels of tacrolimus and MPA, we calculate the coefficient of variability (CV), time in therapeutic range (TTR) and concentration/dose ratio (C/D) of tacrolimus, and the MPA-area under the curve (AUC-MPA) at the third month. TTV load at the first and third month discriminated those patients at risk of developing opportunistic infections between months 1 and 3 (AUC-ROC 0.723, 95%CI 0.559-0.905, p = 0.023) and between months 3 to 6 (AUC-ROC 0.778, 95%CI 0.599-0.957, p = 0.028), respectively, but not those at risk of acute rejection. TTV load did not relate to mean tacrolimus blood level, CV, TTR, C/D and AUC-MPA. To conclude, although TTV is a useful marker of net immunosuppressive status after KTx, it is not related to exposure to maintenance immunosuppression.

Increased definite power, reduced cost, and dynamic construction are the important features required by electric motors for various applications. One such motor accommodating all the requisites mentioned above is Switched reluctance. Applications pertaining to small, commercial, and EV find Switched reluctance machine as a developing competitor to the conventional induction and permanent magnet motors. Though SRMS contribute a considerable number of advantages over induction motors and permanent magnet motors, the primary disadvantages pertaining to SRMs are the torque ripple, especially at high-speed operation, and the resulting acoustic noise. These disadvantages may not always be detrimental to the systems in entirely all cases, but depending on the application to be employed, torque ripple and acoustic noise form are detrimental to the system. This paper reviews the technology status and recent trends in the minimization of torque ripples switched reluctance machines.

Current-induced field-free magnetic switching using spin-orbit torque has been an important topic for decades due to both academic and industrial interest. Most research has focused on introducing symmetry breakers, such as geometrical and compositional variation, pinned layer, and symmetry-broken crystal structures, which add complexity to the magnetic structure and fabrication process. We designed relatively simple magnetic structure, composed of a [Co/Pt] multilayer and a Co layer with perpendicular and in-plane magnetic anisotropy, respectively, with a Cu layer between them. Current-induced deterministic magnetic switching was observed in this magnetic system. The system is advantageous for its easy control of the parameters to achieve the optimal condition for magnetic switching. The balance between magnetic anisotropic strength and interlayer coupling strength is found to provide the optimal condition. This simple design and easy adjustability opens various possibilities for magnetic structures in spin-based electronics applications using spin-orbit torque.

Starting from the fact that one of the global control strategies of the Permanent Magnet Synchronous Motor (PMSM), namely the Direct Torque Control (DTC) type control strategy, is characterised by the fact that the inner flux and torque control loop usually uses hysteresis ON-OFF type controllers and the oscillations introduced by them have to be cancelled out by the outer speed loop controller (which is usually a PI speed controller and whose performance is good around the global operating points and for relatively small variations of the external parameters and disturbances caused in particular by the load torque variation), while retaining the advantages of the DTC strategy, this paper presents the improvement of the performance of the PMSM sensorless control system using Proportional Integrator (PI), PI Equilibrium Optimizer Algorithm (EOA), Fractional Order (FO) PI, Tilt Integral Derivative (TID) and FO Lead-Lag for constant flux, and Sliding Mode Control (SMC) and FOSMC for variable flux. The performance indicators of the control system are the usual ones: response time, settling time, overshoot, steady-state error and speed ripple, plus another one given by the fractal dimension (FD) of the PMSM rotor speed signal, and the hypothesis that the FD of the controlled signal is higher when the control system provides better performance is verified. The paper also presents the basic equations of the PMSM, based on which the synthesis of integer and fractional controllers, the synthesis of an observer for estimating the PMSM rotor speed, electromagnetic torque and stator flux are presented. The comparison of the performance of the proposed control systems and the demonstration of the parametric robustness are performed by numerical simulations in Matlab/Simulink using Simscape Electrical and Fractional Order Modelling and Control (FOMCON). Real-time control based on an embedded system using a TMS320F28379D controller demonstrates the good performance of the PMSM sensorless control system based on the DTC strategy in a complete hardware-in-the-loop (HIL) implementation.

Electric torque wrenches play a crucial role in the assembly of high-strength bolts. This study focuses on three assembly processes for high-strength bolts and introduces a statistical analysis method to assess the quality of the bolt assembly. To enhance the performance, a novel, fully digital, Internet of Things (IoT) electric torque wrench is designed, incorporating a smart meter chip. This wrench achieves integration between the current sensor control method and the torque sensor control method using a simplified hardware circuit, ensuring high precision and stability. Additionally, this study employs the AC voltage self-stabilization method and Savitzky–Golay filtering method to enhance the accuracy and robustness of the wrench. Simulation experiments using Simulink and Matlab validate the effectiveness of these two methods. Furthermore, a cloud platform is utilized to enable rapid IoT access for the wrench, facilitating seamless connectivity and data transmission.

Psychological readiness following Anterior Cruciate ligament Reconstruction (ACLR) correlates with different return to sport outcomes. However, the relationship between strength and power and psychological readiness remains unexplored. The aim of this study was to investigate the relationship between the Anterior Cruciate Ligament Return to Sport After Injury (ACL-RSI) scores and various hamstrings and quadriceps strength and power variables. Twelve participants (20.7±2.5 years old; 174.2±7.5 cm; 70.2±8.5 kg; 18.2±8.3% of body fat) who had an ACLR nine months or more before the study completed the ACL-RSI questionnaire and isokinetic strength testing of the hamstrings and quadriceps (60°.s-1 and 180°.s-1). Based on ACL-RSI scores, they were divided into “cases” and “controls”, deemed not psychologically ready and psychologically ready to return to previous sport performance (PILOS), respectively. The main findings are that quadriceps’ and hamstrings’ rate of torque development (RTD) and time since surgery were determinants of psychological readiness following ACLR. Furthermore, compared to controls cases showed significantly lower angle-specific quadriceps and hamstrings torque close to extension and lower RTD, but no difference in peak torque. These results suggest that physiotherapists should facilitate athletes’ RTS by focusing on the restoration of RTD and strength at angles close to full knee extension.

The aim of this study is to study the effect of aging in different media (deionized water and artificial saliva) on the force/torque generation by thermoplastic orthodontic aligners. Ten thermoformed aligners made of Essix ACE® thermoplastic sheets were aged in deionized water and in artificial saliva over two weeks at 37 C, five in each medium. The force/torque generated on upper second premolar (Tooth 25) of a resin model was measured at day 0 (before aging), 2, 4, 6, 10, and 14, using a biomechanical test set-up. The results showed that the thermocycling of aligners has no significant impact on their force/torque decay. No significant differences were also found in force/torque between the aligners stored in deionized water nor artificial saliva. The vertical extrusion-intrusion forces were measured in the range of 1.4 to 4.6 N, the horizontal oro-vestibular forces were 1.3 to 2.5 N, while the torques on mesio-distal rotation were 5.4 to 41.7 Nmm. It could be concluded that the influence of saliva on the mechanical properties can be classified as insignificant, and no significant difference between artificial aging in deionized water or artificial saliva was observed.

In this paper we give the improved and new analytical and semi-analytical expression for calcu-lating the magnetic vector potential, magnetic field, magnetic force, mutual inductance, torque, and stiffness between two inclined current-carrying arc segments in air. The expressions are ob-tained either in the analytical form over the incomplete elliptic integrals of the first and the sec-ond time or by the single numerical integration of some elliptical integrals of the first and the second kind. The validity of the presented formulas is proved from the special cases when the inclined circular loops are treated. We mention that all formulas are obtain by the integral ap-proach except the stiffness which is found by the derivative of the magnetic force.

The electrical motor design requires a lot of work and resources. In the field, motor designers need to decide on competitive motor sizing quickly to compete with other motor suppliers. Generally, it requires expensive FEM S/W to get accurate motor sizing results, but buying and maintaining many licenses is costly. Moreover, it needs some patience to get the result from FEM analysis. In this paper, the motor sizing technique using an existing production motor is presented to respond to urgent requests from customers without using FEM analysis. In order to enhance the fidelity of the result, magnetic flux loss by magnet coating and non-linear characteristics are considered during the motor sizing process. The proposed sizing method was verified by comparison to the FEM analysis and test result and showed reasonable confidence in them. Also, this method has the substantial advantage of outputting accurate results instantly without taking any time. It helps with the modification design of electrical motors without using expensive FEM S/W and a certain level of skill or experience.

Exoskeleton robots have become a promising tool in neurorehabilitation, offering effective physical therapy and recovery monitoring. The success of these therapies relies on precise motion control systems. Although computed torque control based on inverse dynamics provides a robust theoretical foundation, its practical application in rehabilitation is limited by its sensitivity to model accuracy, making it less effective when dealing with unpredictable payloads. To overcome these limitations, this study introduces a novel model reference computed torque controller that accounts for parametric uncertainties while optimizing computational efficiency. A dynamic model of a seven-degree-of-freedom human lower limb exoskeleton is developed, incorporating a realistic joint friction model to accurately reflect the physical behavior of the robot. To reduce computational demands, the control system is split into two loops: a slower loop that predicts joint torque requirements based on input trajectories and robot dynamics, and a faster PID loop that corrects trajectory tracking errors. Coriolis and centrifugal forces are excluded from the model due to their minimal impact on system dynamics relative to their computational cost. Experimental results show high accuracy in trajectory tracking, and statistical analyses confirm the controller’s robustness and effectiveness in handling parametric uncertainties. This approach presents a promising advancement for improving the stability and performance of exoskeleton-based neurorehabilitation.

The aim of the study is to investigate the effects of artificial aging by thermocycling and mechanical loading on force/torque delivery by thermoplastic orthodontic aligners. Ten thermoformed aligners made of Zendura™ thermoplastic polyurethane sheets were aged over two weeks in deionized water by thermocycling alone (n=5) and by both thermocycling and mechanical loading (n=5). The force/torque generated on upper second premolar (Tooth 25) of a plastic model was measured before aging (as control), and after 2, 4, 6, 10, and 14 days of aging, using a biomechanical set-up. Before aging, the extrusion-intrusion forces were in the range of 2.4 to 3.0 N, the oro-vestibular forces were 1.8 to 2.0 N, and the torques on mesio-distal rotation were 13.6 to 40.0 Nmm. Pure thermocycling had no significant effect on the force decay of the aligners. However, there was a significant decrease in force/torque after 2 days of aging for both thermocycling and mechanical loading aging group, which is no longer significant over 14 days of aging. In conclusion, artificial aging of aligners in deionized water with thermocycling and mechanical loading results in a significant decrease in force/torque generation. However, the mechanical loading of aligners has a greater impact than thermocycling alone.

In this paper, a method is developed for presenting a novel virtual torque sensor based on precise model and position measurements avoids the need of traditional strain gauges and amplifiers. More specifically, the harmonic drive compliance model and the Gaussian process regression (GPR) technique are used together to achieve virtual torque sensor measurement. While the harmonic drive compliance model provides the analytic part, the Gaussian process regression method is used to reconstruct the unmolded part based on motor-side and link-side joint angles as well as motor current. After an automatic offline calibration, the method allows for a lean online implementation. The virtual torque sensor measurement is compared with measurements of a commercial torque sensor, and the results have attested the effectiveness of the proposed method.

Adjustable frequency converters are widely used in modern automated asynchronous drives due to their high efficiency and high responsiveness control strategies. Control algorithms for frequency converters are divided into two main groups: constant frequency commutation and random frequency commutation. Research results on various commutation frequencies, conducted using Matlab/Simulink software, show that the use of random frequency commutation provides better efficiency by significantly reducing the amplitude of harmonic oscillations at different frequencies, with a reduction in switching losses in transistors. Currently, a converter with random frequency commutation is being researched and applied in the direct torque control system. The traditional direct control system, based on a two-level inverter, is widely used due to its simplicity and ease of implementation. However, this method results in the output current of the two-level converter, supplied to the motor stator, having many harmonic distortions, leading to strong torque fluctuations regardless of the rotation speed and ultimately causing additional losses in the stator windings and reducing the motor's lifespan. To enhance the efficiency of automated asynchronous drives, this article presents an algorithm for a direct control system based on a three-level NPC inverter using a PI speed regulator. The proposed algorithm's research is validated in the Matlab/Simulink environment. The research results show that in the absence of harmonic filtering, the stator current harmonic distortion coefficient is approximately 11%, and torque fluctuations are less than 5% of the resistive torque. The fluctuations between the two capacitors remain almost unchanged throughout the entire process.

This research work deals hybrid control system based integrated Cuk converter fed brushless DC motor (BLDCM) for power factor correction. In this work, moth-flame optimization (MFO) and fuzzy logic controller (FLC) has been combined and moth –flame fuzzy logic controller (MFOFLC) has been proposed. Firstly, the BLDC motor modelling is composed with power factor correction (PFC) based integrated Cuk converter and BLDC speed is regulated using variable DC-Link inverter voltage which makes low switching operation with less switched losses. Here, with the use of switched inductor, the task and execution of proposed converter is redesigned. The DBR (diode bridge rectifier) trailed by proposed PFC based integrated Cuk converter operates in discontinuous inductor conduction mode(DICM) for achievement of better power factor.MFO is exhibited for gathering of dataset from the input voltage signal. At that point separated datasets is send to FLC to improve the updating function and minimization of torque ripple. However, our main objective is to assess adequacy of proposed method, the power factor is broke down. The execution of the proposed control methodology is executed in MATLAB/Simulink working platform and the display is assessed with the existing techniques.

In this paper, a small wind power generator is proposed with a new straight shape stator and rotor. The advantages of the proposed structure are introduced through a comparison between the basic and the proposed models. By comparing the pole slot combination of the proposed generator, the combination with optimal cogging torque characteristics was selected. The electromagnetic characteristics of proposed shape are analyzed for design variables using a finite element analysis (FEA) of ANSYS Maxwell. The final model of the proposed structure is designed by considering cogging torque and the generator electromagnetic characteristics. The electromagnetic and structural simulations of the final model are performed to satisfy the required performance of generator and mechanical safety. To verify the FEA results of the final model, a prototype is manufactured, experimented, and compared with the FEA results.

A Savonius wind turbine is one of the simplest vertical-axis turbines. Several researchers have been attracted to it because of its simple structure, low noise, appropriate torque, and independence from wind direction. SR3345 and SR5050 blade profiles will be investigated for their effects on the performance of Savonius wind turbines. First, the fabricated wind turbine is placed in front of an open circuit wind tunnel with a velocity of 6 m/s. Furthermore, governing relationships are used to calculate power and torque coefficients as well as tip speed. In this study, the power and torque coefficients of the turbine are compared with the two profiles considered based on overlap ratios between 0 and 0.3. Despite its increased stability, the central shaft reduced the power coefficient of the turbine. For blade SR3345, the best performance occurs at tip speed ratios of less than 1, while for blade SR5050, the best performance occurs at higher tip speed ratios. Both blades SR3345 and SR5050 achieve the highest power coefficients at overlap ratios of 0 and 0.18 when a central shaft is present.

Employing numerical methods to simulate manufacturing processes and study their influential factors is increasing. The development of computers and engineering software has increased the ability and accuracy of numerical methods in simulating various aspects of different processes. One of the manufacturing processes that has been considered by many industries in recent years to join metals in solid-state with unique properties is called friction stir welding. It is challenging and, in some cases, impossible to experimentally study the various aspects of this process, such as temperature distribution, stress distribution, and material flow, due to severe plastic deformation in the weld zone. In this case, numerical methods are used to investigate these parameters and better understand the process. This study first investigates various numerical methods researchers use to simulate the process. The ability, pros, and cons of these methods to simulate the process are also examined. Then, the applications of numerical models in simulating the temperature distribution during the process as well as the effects of input parameters on the temperature history of the process, are deeply considered. Next, the application of numerical methods in material flow modeling during the process is investigated. Finally, the modeling of the microstructure of the welding zone is investigated using numerical methods that help significantly in predicting the weld microstructure.

Typically, a diesel generator on the merchant ship, composed of a wound rotor synchronous generator and a four-stroke diesel engine, supplies electrical power to various loads. Recently, shaft generators for merchant vessels are increasingly replacing diesel generators to reduce CO2 emissions through fuel efficiency improvement. In particular, permanent magnet generators replace induction generators due to their high-efficiency characteristics at light loads. The surface-mounted permanent magnet can be a suitable rotor topology due to the relatively short constant power range. This generator can also operate as a motor according to the propulsion mode, so minimizing the harmonics of the induced voltage and the torque ripple is necessary. This paper proposes an alternative NdFeB magnet pole topology combined with the modular step-skewed rotor. The step-skewed rotor affects to reduce higher-order harmonics, and the modular pole reduces the permanent magnet assembly process and harmonics in voltage and torque. A 2-D finite element method is used to evaluate the harmonics of induced voltage and torque pulsation for the proposed topology. The topology shows harmonic minimization effect by comparing the characteristics of three flatted-bottom magnets. Compared to the tapered bread-loaf magnet, voltage harmonics to the 100th component are almost the same, and the torque ripple is reduced by more than 12% at the same residual flux density. The analysis method is verified by comparing test and analysis results for prototype machines with similar specifications.

Recently, due to the decrease in labor force, increase in labor costs, and the desire for improved quality of life, research on robots has been actively conducted to address these issues. However, it is currently difficult to find robots that physically interact with humans. The reason is that the actuators of robots do not have high torque density on their own. To solve this problem, high torque density motors, such as proprioceptive actuators, are being researched. However, the torque density is still insufficient for physical interaction with humans, so we have developed a motor with higher torque density. However, high torque density motors have the disadvantage of lower speed characteristics due to increased Back-EMF. Therefore, to address the deterioration of speed characteristics in the developed motor, we applied the Independent 3-Phase winding structure to improve the speed characteristics. Consequently, through comparison with Y-Connection and Delta-Connection, we propose the most suitable winding structure for high torque density motors intended for physical interaction with humans.

This study aimed to investigate the effects of forearm postures and elbow joint angles on muscle torque and mechanomyography (MMG) signals. The torque about the elbow and MMG of the biceps brachii (BB) muscle were measured in 36 healthy subjects using an in-house elbow flexion testbed and Neuromuscular electrical stimulation (NMES) of the BB muscle. The BB muscle received stimulation intensity while the forearm was positioned in the neutral, pronation or supination. The elbow was flexed at angles 10°, 30°, 60° and 90°. (0° = full elbow extension). The study analyzed the impact of forearm posture(s) and elbow joint angle(s) on the root mean square value of torque (TQ_RMS). Subsequently, MMG parameters such as the root mean square value (MMG_RMS), the mean power frequency (MMG_MPF), and the median frequency (MMG_MDF), were analyzed in the longitudinal, lateral, and transverse axes of the BB muscle fibers. Forearm posture and elbow flexion angle were found to significantly influence TQ_RMS (P < 0.05). Similarly, MMG_RMS, MMG_MPF and MMG_MDF exhibited a significant difference for all postures and angles (P < 0.05). However, the combined main effect of forearm postures and elbow joint angles was insignificant in the longitudinal axis (P > 0.05). The study also found that MMG_RMS and TQ_RMS increased with the joint angle to 60° and decreased to the other angle(s). However, during this investigation,MMG_MPF and MMG_MDF exhibited a consistent decrease in response to joint angles. This finding suggests that the muscle contraction evoked by NMES may be influenced by the interplay between actin and myosin filaments, which are responsible for muscle contraction and are in turn influenced by muscle length. As restoring the function of limbs is a common goal in rehabilitation services, it becomes imperative to develop methods that may enable the real-time tracking of exact muscle dimensional changes and activation levels.

This paper presents a complete control strategy of the active return-to-center (RTC) control for electric power steering (EPS) systems. We first establish the mathematical model of the EPS system and analyze the source and influence of the self-aligning torque (SAT). Second, based on the feedback signals of steering column torque and steering wheel angle, we give the trigger conditions of a state switch between the steering assist state and the RTC state. In order to avoid the sudden change of the output torque for the driving motor when the state switches frequently between the steering assist state and the RTC state, we design an undisturbed state switching logic algorithm. This state switching logic algorithm ensures that the output value of the RTC controller is set to an initial value and increases in given steps up to a maximum value after entering the RTC state, and the output value of the RTC controller will reduce in given steps down to zero when exiting the RTC state. This therefore ensures smooth switch control between the two states and improves the driver’s steering feeling. Third, we design the RTC controller, which depends upon the feedback signals of the steering wheel angle and the angular velocity. In addition, the controller increases the auxiliary control function of the RTC torque based on vehicle speed. The experimental results show that the active RTC control method does not affect the basic assist characteristics, which effectively reduces the residual angle of the steering wheel at low vehicle speed and improves the RTC performance of the vehicle.

In this paper, a novel permanent magnet-assisted synchronous reluctance machine (PMASynRM) with rare-earth PMs and ferrite magnets is proposed. The performance of PMASynRM is discussed with respected to the different magnet ratio of rare-earth PMs and ferrite magnets. Some characteristics including the flux density, output torque, cogging torque, output power, power factor, torque ripple, loss, efficiency, and demagnetization are calculated by 2-D finite element analysis (FEA). The analysis results show that the excellent performance can be obtained by using hybrid magnet of rare-earth PMs and ferrite magnets with the suitable magnet ratio, and provide some desirable cost-performance trade-off.

Rotational jumps are crucial techniques in sports competitions. Estimating ground reaction forces (GRFs), one of the components constituting jumps, through a biomechanical model-based approach enables analysis even in environments where force plates or machine learning training data cannot be utilized. In this study, rotational jump movements involving twists on land were measured using inertial measurement units (IMUs) and estimated GRFs and body loads using a 3D forward dynamics model. Our estimation method, based on forward dynamics and optimization calculations, generated and optimized body movements using cost functions defined by motion measurements and internal body loads. To reduce the influence of the dynamic acceleration in the optimization calculation, the 3D orientation using sensor fusion composed of acceleration and angular velocity data obtained from IMUs and an extended Kalman filter was estimated. As a result, by generating movements based on the cost function, it was possible to calculate biomechanically valid GRFs while following the measured movements even if not all joints are covered by IMUs. This estimation method allows for 3D motion analysis independent of measurement conditions or training data.

For both conventional and renewable energy conversion processes, computational fluid dynamics (CFD) has been used to address more energy-related challenges in recent decades. Using CFD to investigate vertical-axis wind turbines has become more common in recent years. The main goals of this application have been to more accurately predict the turbine's performance and to comprehend the complicated nature of the complex turbulent flow. The Vertical Axis Wind Turbine (VAWT) simulation for energy-generating applications has several intricate components. One of them is being aware of the chaotic flow that occurs during the first stages of the starting process, which influences overall effectiveness. In this article, the performance of the wind turbine was increased by using a passive flow control approach. The numerical research was carried out using Large Eddy Simulation for four alternative tip speed ratios in both cases, the classic and the optimized, equipped with a vortex trap on the exterior of the blades. The power and torque coefficient variations, as well as the velocity magnitude contours, show that the starting process may begin with a significant improvement in efficiency when flow control is used.

Cogging torque is a pulsating, parasitic and undesired torque ripple intrinsic of the design of a permanent magnet synchronous generator (PMSG), which should be minimized due to its adverse effects: vibration and noise. In addition, as aerodynamic power is low during start-up at low wind speeds in small wind energy systems, the cogging torque must be as low as possible to achieve a low cut-in speed. A novel mitigation technique using compound pre-slotting, based on a combination of magnetic and non-magnetic materials, is investigated. The finite element technique is used to calculate the cogging torque of a real PMSG design for a small wind turbine, with and without using compound pre-slotting. The results show that cogging torque can be reduced by a factor of 48% with this technique, while avoiding the main drawback of the conventional pre-slotting technique: the reduction of induced voltage due to leakage flux between stator teeth. Furthermore, through a combination of pre-slotting and other cogging torque optimization techniques, 84%, cogging torque can be eliminated for a given design.

Brushless Direct Current Motors are significantly improved for using many electrical applications. The design investigation is increased year by year and most of the motor design researchers find out the superior efficiency of the BLDC motor. The traditional motor consumed more electrical power than BLDC motor. The design of BLDC motors that are compact, small, easy to control, save energy and light weight. Due to this fact, the design of BLDC motor should be analyzed to improve the motor characteristics performance. The research focuses on the design of BLDC motor performance using Taguchi Method and Response Surface Methodology (RSM) for Finite Element Method (FEM). Firstly, the Taguchi Method is applied to identify the optimization point of design parameters and consider using the reference model of actual BLDC electric fan motor with a rated power of 26Watts design. Based on the Taguchi Method to create the RSM is used to two-step optimization design performance using in FEM analysis. The performances of motor design proposed approach to provide the effeteness for motor design investigator. In this investigation aims the better structural performances in output power, torque, efficiency and torque ripple. The final design of proposed model achieved an energy efficiency is 10% higher than the reference design of prototype modes, the output power result is 10W higher this reference design. We can reduce the loss of the proposed motor design. Furthermore, the maximum torque can also increase the 0.032Nm of that design. The design simulation results were produced and studied by the FEM analysis of JMAG software. From the evaluation results, the configurations of reference model design are compared with the proposed design by using the three methods of motor design optimization showed the best characteristics for performance of motor investigation design.

This research endeavors to illuminate the path toward efficient and optimized propeller design by delving into the realm of aerodynamics. Propellers, as vital mechanical marvels, constitute the core of numerous propulsion systems, spanning from aircraft and marine vessels to wind turbines. The pursuit of enhanced propeller efficiency and performance holds paramount importance in industries where propulsion assumes a critical role, underscoring the indispensable need for a profound understanding of aerodynamics. Through meticulously crafted theoretical insights and their practical applications, this study embarks on a journey into the fascinating realm of propeller aerodynamics. While the paper primarily addresses the aerodynamic aspects of propeller design and optimization, it serves as a foundational guide for those seeking to comprehend the intricacies of propeller engineering.The research journey commences with an in-depth exploration of the fundamental principles governing propeller performance. It unveils the intricate dynamics of airflow surrounding propeller blades, shedding light on their proficiency in generating thrust, lift, and torque. The bedrock of the theoretical insights is a comprehensive analysis encompassing airfoil profiles, blade geometry, and the underlying principles of blade element theory. In navigating the ensuing pages, the study embarks on the task of demystifying the intricate methods and calculations that propel the design and optimization of propellers. Leveraging cutting-edge methodologies, the research systematically assesses the aerodynamic characteristics of propellers across various operational conditions. These invaluable insights empower the tailoring of propeller designs with precision, aligning them seamlessly with specific performance objectives. The aim is not only to impart a comprehensive understanding of propeller aerodynamics but also to provide actionable insights for engineers and researchers striving to enhance propeller efficiency. This research endeavor serves as a guiding light for both propeller enthusiasts and professionals alike. It not only enriches the broader discourse on propeller technology but also equips readers with the requisite knowledge and tools to embark on their own quests for optimized propeller design. As propulsion technologies continue their evolution, the steadfast principles elucidated herein will persist, guiding future innovations and advancements in the realm of propeller engineering. This paper serves as a profound resource, offering new researchers a comprehensive understanding of propellers and their intricate design processes.

In order to realize the tram's low-floor structure, most of the trams that have been recently introduced adopt an independently rotating wheelset. In the case of trains driving in two regions with different gauges, an independently rotating wheelset may be applied to utilize the variable track technology. Since the independent rotation type wheelset has no rotational restraint of the left and right wheels, the difference in rotational speed between the outer and inner wheels occurs naturally during curved driving, and it is applied to railroad vehicles traveling in steep curve sections because it smoothly drives curved driving. However, the longitudinal creep force and the lateral restoring force are weakened as the left and right rotational constraints disappear. Lack of transverse direction restoring force weakens stability while causing continuous flange contact driving or zigzag phenomenon against disturbance. Under the conditions of driving in a steep curve, these railway vehicles generate excessive wear, noise, and lateral pressure, as well as deterioration of ride comfort and derailment. In order to overcome these drawbacks, a method has been proposed in which the torque of a motor mounted on each wheel is individually controlled to generate lateral restoring force or to improve driving performance through lateral displacement control using a yaw moment. In this paper, development using HILs was performed to check the performance and stability of the individual motor torque control technology before verifying by applying the individual motor torque control to the actual vehicle. HILs were constructed by combining a real-time dynamic analysis model of a railway vehicle with a drive motor to which real individual motor control was applied. Under the conditions of driving the test track where the actual test vehicle was tested, the analysis of the driving characteristics and the control characteristics of the disturbance was performed to confirm the proposed individual motor torque control performance.

A preliminary study of a wind turbine design is carried out using a wind tunnel to obtain its aerodynamic characteristics. Utilization of data from the study to develop large-scale wind turbines requires further study. This paper aims to discuss the use of wind turbine data obtained from the wind tunnel measurements to estimate the characteristics of wind turbines that have field size. The torque of two small-scale turbines was measured inside the wind tunnel. The first small-scale turbine has a radius of 0.14 m and the second small turbine has a radius of 0.19 m. Torque measurement results from both turbines were analyzed using Buckingham π theorem to obtain a correlation between torsion and diameter variations. The obtained correlation equation is used to estimate the field measurement of turbine power with a radius of 1.2 m. The resulting correlation equation can be used to estimate the power generated by the turbine by the size of the field well in the operating area of the tip speed ratio of the turbine design.

The paper interprets a comparison of two mostly used techniques of a field-oriented control for 6-phase electric drives, with their pros and cons, as well as their differences in construction and behaviour. Both of these approaches have been realized. Frequency and step responses analysis have been demonstrated with a 6-phase permanent magnet synchronous machine. Experimental results have been compared with simulations based on a mathematical model.

The application of non-uniform spiral gratings to control structure, topological parameters and propagation of orbital angular momentum (OAM) beams was studied experimentally with coherent near-infrared light. Adapted digital spiral grating structures were programmed into the phase map of a high-resolution liquid-crystal-on-silicon spatial light modulator (LCoS-SLM). It is shown that characteristic spatio-spectral anomalies related to Gouy phase shift can be used as pointers to quantify rotational beam properties. Depending on sign and gradient of spatially variable periods of chirped spiral gratings (CSG), variations of rotation angle and angular velocity as a function of propagation distance were measured. Propagation-dependent self-torque is introduced in analogy to known local self-torque phenomena of OAM beams as obtained by the superposition of temporally chirped or phase modulated wavepackets.

Powered ankle prostheses have been proven to improve the walking economy of people with transtibial amputation. All commercial powered ankle prostheses that are currently available can only perform one-degree-of-freedom motion in a limited range. However, studies have shown that the frontal plane motion during ambulation is associated with balancing. In addition, as more advanced neural interfaces have become available for people with amputation, it is possible to fully recover ankle function by combining neural signals and a robotic ankle. Accordingly, there is a need for a powered ankle prosthesis that can have active control on not only plantarflexion and dorsiflexion but also eversion and inversion. We designed, built, and evaluated a two-degree-of-freedom (2-DoF) powered ankle-foot prosthesis that is untethered and can support level-ground walking. Benchtop tests were conducted to characterize the dynamics of the system. Walking trials were performed with a 77 kg subject that has unilateral transtibial amputation to evaluate system performance under realistic conditions. Benchtop tests demonstrated a step response rise time of less than 50 milliseconds for a torque of 40 N·m on each actuator. The closed-loop torque bandwidth of the actuator is 9.74 Hz. Walking trials demonstrated torque tracking errors (root mean square) of less than 7 N·m. These results suggested that the device can perform adequate torque control and support level-ground walking. This prosthesis can serve as a platform for studying biomechanics related to balance and has the possibility of further recovering the biological function of the ankle-subtalar-foot complex beyond the existing powered ankles.

In this article, the linear non-equilibrium thermodynamic approach is used to analyze the energy regularities of the interior permanent magnet synchronous motor (IPMSM) taking into account iron losses. The IPMSM is considered a linear power converter (PC) that is multiple linearized at operating points with given angular velocity and load torque. A universal description of such a PC by a system of dimensionless parameters and characteristics made it possible to analyze the perfection of energy conversion in the object. For IPMSM, taking into account iron losses, a mathematical model of the corresponding PC has been built, and an algorithm and research program have been developed, which is valid in a wide range of machine speed regulations. This allows you to obtain the efficiency maps for IPMSM and choose the optimal points of PC operation according to the maximum efficiency criteria. The results of the studies demonstrate the effectiveness of the proposed method for determining the optimal reference of the components d and q of the armature current for both the MTPA strategy at motor speed adjusting below the nominal value and for the FW strategy at its adjusting above the nominal value.

We propose that, at equilibrium, statistically equal temperatures as mechanical torques are exerted on each kind of gas phase molecules as rates of translational action [@t=ʃmvds/dt=ʃmr2ωdϕ/dt=mv2, J]. These torques result from the impulsive density of resonant quantum fields with molecules, configuring the trajectories of gas molecules while balancing molecular pressure (p=NkT) against the density of field energy (J/m3). Gibbs energy fields contain no resonant quanta at zero Kelvin, with this measure of chemical potential diminishing in magnitude as translational action of the vapor molecules and quantum field energy increases with temperature. In illustration, we show how impulsive torques from quantum fields drive the reversible thermodynamics of Carnot’s heat-work engine cycle, sustain the decreasing atmospheric temperature gradient of increasing molecular entropy with altitude, support the translational action and field energy of vortical wind flow in anticyclones, frictionally warming the Earth’s surface while recycling greenhouse infrared absorption of surface radiation, generating electrical power from air flow in wind farms and destructive power in tropical cyclones. These cases all distinguish symmetrically between a causal field of impulsive quanta (Σhν) that energizes the action of matter and the resultant vis viva of molecular mechanics (mv2). The quanta of these different fields display mean wavelengths from 10-4 m to 1012 m, with mechanical advantages many orders of magnitude greater than the corresponding translational actions, though with mean quantum frequencies (v) similar to those of radial Brownian movement for independent particles (ω). These energy fields are also thermodynamically reversible reservoirs for heat, optimizing work processes on Earth and delaying the achievement of maximum entropy production from short wave solar radiation in conversion to outgoing long wave radiation to space.

This work targets the development of a mobility control system for high-speed series hybrid electric tracked vehicles, which operate with independent traction motors for each track. The scope of the research encompasses the modeling of the series hybrid powertrain specific to military tracked vehicles, as well as an in-depth analysis of their dynamic behavior. Subsequently, the study conducts a critical review of the mobility control approaches sourced from literature, identifying key techniques relevant to high-inertia vehicular applications. Building on the foundational models, the study puts forward a robust closed-loop mobility control system aimed at ensuring precise and stable off-road vehicle operations. The system's resilience and adaptability to a variety of driving conditions are emphasized, with a particular focus on handling maneuvers such as steering and pivoting, which are challenging operations for tracked vehicle agility. The performance of the proposed mobility control system is tested through a series of simulations, covering a spectrum of operational scenarios. These tests are carried out in both offline simulation settings, which permit meticulous fine-tuning of system parameters, and real-time environments that replicate actual field conditions. The simulation results demonstrate the system's capacity to improve vehicular response and highlight its potential impact on the future designs of mobility control systems for the heavy-duty vehicle sector, particularly in defense applications.