Related papers: Modular multi-axis stepper motor driver with remot…
The development of control software for a neutron powder diffraction instrument at the Safari-1 research reactor of South Africa is reported. The software runs under Windows 2000 and incorporates PC-based cards for data acquisition and…
An external magnetic field can be used to remotely control small-scaled robots, making them promising candidates for diverse biomedical and engineering applications. We showed that our magnetically actuated millirobot is highly agile and…
With the course of progress in the field of medicine, most of the patients lives can be saved. The only thing required is the proper attention at the proper time. Our wearable solution tries to solve this issue by taking the patients vitals…
In the large-scale, Dark Energy Spectroscopic Instrument (DESI), thousands of fiber positioners will be used. Those are robotic positioners, with two axis, and having the size of a pen. They are tightly packed on the focal plane of the…
This paper discusses the design and implementation of the Modular Pipe Climber inside ASTM D1785 - 15e1 standard pipes [1]. The robot has three tracks which operate independently and are mounted on three modules which are oriented at…
Multi-step dexterous manipulation is a fundamental skill in household scenarios, yet remains an underexplored area in robotics. This paper proposes a modular approach, where each step of the manipulation process is addressed with dedicated…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…
A backstepping controller is designed for a system of parallel buck converters sharing load. Controller objective is to ensure proper current sharing and output voltage regulation. The designed controller is successfully tested for both…
Robust adaptive control methods are essential for maintaining quadcopter performance under external disturbances and model uncertainties. However, fragmented evaluations across tasks, simulators, and implementations hinder systematic…
Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and…
This paper deals with an advanced modeling of the feed drives of a five axis machine tool within the context of High Speed Machining. The management of the multi axes as well as high velocities causes problems to the set machine tool -…
We present a low-noise, high modulation-bandwidth design for a laser current driver with excellent long term stability. The driver improves upon the commonly-used Hall-Libbrecht design. The current driver can be operated remotely by way of…
In this tutorial, we detailed simple controllers for autonomous parking and path following for self-driving cars providing practical methods for curvature computation.
Mobile manipulators can be used for machine tending and material handling tasks in small volume manufacturing applications. These applications usually have semi-structured work environment. The use of a fully autonomous mobile manipulator…
Optics experiments critically require the stable and accurate locking of relative phases between light beams or the stabilization of Fabry-Perot cavity lengths. Here, we present a simple and inexpensive technique based on a stand-alone…
Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important. In this paper, first the stages of modeling and simulating of…
Surgical robotic systems equipped with microscale, high-dexterity manipulators have shown promising results in minimally invasive surgery (MIS). One barrier to the widespread adoption of such systems is the prohibitive cost of research and…
Micro/Nano Electro Mechanical Systems (MEMS/NEMS) provide the engineer with a powerful set of solutions to a wide variety of technical challenges. However, because they are mechanical systems, response times can be a limitation. In some…