Vibration-Driven Microrobot Positioning Methodologies for Nonholonomic Constraint Compensation
نویسندگان
چکیده
منابع مشابه
Control of nonholonomic systems via dynamic compensation
The problem of controlling nonholonomic systems via dynamic state feedback and its structural aspects are analyzed. Advantages and drawbacks with respect to the use of static state feedback laws are discussed. In particular, nonholonomic constraints are shown to yield possible singularities in the dynamic extension process. Nevertheless, these singularities can be avoided by the proper design o...
متن کاملForces Associated with Nonlinear Nonholonomic Constraint Equations
A concise method has been formulated for identifying a set of forces needed to constrain the behavior of a mechanical system, modeled as a set of particles and rigid bodies, when it is subject to motion constraints described by nonholonomic equations that are inherently nonlinear in velocity. An expression in vector form is obtained for each force; a direction is determined, together with the p...
متن کاملArchitecture-Driven Modelling Methodologies
Classical software development methodologies take architectural issues as granted or pre-determined. They thus neglect the impact decisions for architecture have within the development process. This omission is applicable as long as we are considering monolithic systems. It cannot however been kept whenever we move to distributed systems. Web information systems pay far more attention to users ...
متن کاملTime optimal control for a nonholonomic system with state constraint
The aim of this paper is to tackle the time optimal controllability of an (n+1)-dimensional nonholonomic integrator. In the optimal control problem we consider, the state variables are subject to a bound constraint. We give a full description of the optimal control and optimal trajectories are explicitly obtained. The optimal trajectories we construct, lie in a 2-dimensional plane and they are ...
متن کاملManipulation of Oocytes by Magnetically Driven Microrobot on a Chip
This thesis presents on-chip various manipulations of oocyte, in order to improve the controllability of a single cell in the biotechnology, this thesis introduces four different approaches for a single oocyte manipulation. It includes microbeads loading for potential usage of oocytes loading, oocyte enucleation in high-speed with cutting accuracy control, single oocytes dispensing system, and ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Engineering
سال: 2015
ISSN: 2095-8099
DOI: 10.15302/j-eng-2015016