Related papers: Compact Variable-Gap Undulator with Hydraulic-Assi…
This paper presents GARD, an upper limb end-effector rehabilitation device developed for stroke patients. GARD offers assistance force along or towards a 2D trajectory during physical therapy sessions. GARD employs a non-backdrivable…
Control of compliant mechanical systems is increasingly being researched for several applications including flexible link robots and ultra-precision positioning systems. The control problem in these systems is challenging, especially with…
In this article, the optimal control problem for a harmonic oscillator with an inequality constraint is considered. The applied energy of the oscillator during a fixed final time period is used as the performance criterion. The analytical…
In this paper, a new fault tolerant dc-ac converter-fed induction motor drive is proposed to maintain motor as close as possible to its desired normal operation under open- and short-circuit switch failures. The operational principles for…
This paper studies the value of communicated motion predictions in the longitudinal control of connected automated vehicles (CAVs). We focus on a safe cooperative adaptive cruise control (CACC) design and analyze the value of…
Leak detection and water quality monitoring are requirements and challenging tasks in Water Distribution Systems (WDS). In-line robots are designed for this aim. In our previous work, we designed an in-pipe robot [1]. In this research, we…
This paper introduces a novel underactuated geometric compliant (UGC) robot and investigates the behaviors of underactuated compliant modules with variable radial stiffness, aiming to enhance the versatility and functionality of UGC robots.…
We conducted a numerical simulation of ventilated supercavitation from a forward-facing cavitator in unsteady flows generated by a gust generator under different gust angles of attack and gust frequencies. The numerical method is validated…
Collisions are common in many dynamical systems with real applications. They can be formulated as hybrid dynamical systems with discontinuities automatically triggered when states transverse certain manifolds. We present an algorithm for…
Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of mechanical damping exist in compliant robotic legged locomotion. It remains unclear how physical…
This paper develops a control approach with correctness guarantees for the simultaneous operation of lane keeping and adaptive cruise control. The safety specifications for these driver assistance modules are expressed in terms of set…
The efficiency of a free-electron laser can be enhanced by sustaining the growth of the radiation power beyond the initial saturation. One notable method is undulator tapering, which involves the variation of the gap height and/or the…
Modern hydraulic shock absorbers display a wealth of nonlinear effects such as hysteresis and instabilities at high flow rates. Despite their wide application in practically all vehicles, both on- and off-road, a universal analytical model…
The application of nonlinear control schemes to electro-hydraulic actuators often requires several alterations in the design of the controllers during their implementation. This is to overcome challenges that frequently arise in such…
Bio-inspired oscillatory foil propulsion has the ability to traverse various propulsive modes by dynamically changing the foil's heave and pitch kinematics. This research characterizes the propulsion properties and wake dynamics of a…
In this paper, the incremental nonlinear dynamic inversion (INDI) method is applied to the control system design of coaxial rotor UAVs. The aerodynamic uncertainty and anti-disturbance problems are solved in the control system design. The…
We investigate the exact dynamics of a system of two independent harmonic oscillators coupled through their angular momentum. The exact analytic solution of the equations of motion for the field operators is derived, and the conditions for…
The scope of inverted pendulum has been widely studied as one of the notable research with respect to standing in balance. The concept of this pendulum is similar to missile guidance, meaning that the center of drag is ahead that of…
In this paper, a dynamic antiwindup compensator design is proposed which augments the main controller and guarantees robust performance in the event of input saturation. This is a two stage process in which first a robust optimal controller…
For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded…