Novel sliding mode control of the manipulator based on a nonlinear disturbance observer.

To achieve high-performance trajectory tracking for a manipulator, this study proposes a novel sliding mode control strategy incorporating a nonlinear disturbance observer. The observer is designed to estimate unknown models in real-time, enabling feedforward compensation for various uncertainties such as modeling errors, joint friction, and external torque disturbances. The control law is formulated by integrating the Backstepping method, Lyapunov theory, and global fast terminal sliding mode theory, ensuring global convergence to zero within finite time and enhancing system robustness.

The Design and Validation of a High-Precision Angular Vibration Calibration System Based on a Laser Vibrometer.

This paper presents the design and validation of a high-precision angular vibration calibration system based on a laser vibrometer, aimed at meeting the high-precision requirements for measuring small angular vibrations. The system primarily consists of a self-driving angular vibration platform and a laser vibrometer. The platform is isolated from ground interference via an air-floating platform and uses a split-type motor to control the platform, generating specific angular vibrations.

A pavement distresses identification method optimized for YOLOv5s.

Automatic detection and recognition of pavement distresses is the key to timely repair of pavement. Repairing the pavement distresses in time can prevent the destruction of road structure and the occurrence of traffic accidents. However, some other factors, such as a single object category, shading and occlusion, make detection of pavement distresses very challenging.