In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

against the range-dependent accuracy of the tracking radar measurements including range, elevation and bearing angles, a new hybrid adaptive kalman filter is proposed to enhance the performance of the radar aided strapdown inertial navigation system (ins/radar). this filter involves the concept of residual-based adaptive estimation and adaptive fading kalman filter and tunes dynamically the fil...

Turbo-expanders are used in industries for cooling, liquefaction and also power generation. An important part of these turbines is the variable angle nozzle causing a nonlinear behavior that is not well recognized among the prime movers of the dispersed generators. In this paper, at first, the turbo expander system is evaluated in details and its nonlinear behavior is investigated. Then, the sy...

Two phenomena can produce chattering: switching of input control signal and the large amplitude of this switching (switching gain). To remove the switching of input control signal, dynamic sliding mode control (DSMC) is used. In DSMC switching is removed due to the integrator which is placed before the plant. However, in DSMC the augmented system (system plus the integrator) is one dimension bi...

This paper introduces a robust task-space control scheme for a robotic system with an adaptive observer. The proposed approach does not require the availability of the system states and an adaptive observer is developed to estimate the state variables. These estimated states are then used in the control scheme. First, the dynamic model of a robot is derived. Next, an observer-based robust contr...


 Dealing with dynamics is a vital problem in Artificial Intelligence (AI). An intelligent system should be able to perceive and interact its environment perform tasks satisfactorily. To do so, it must sense external actions that might interfere tasks, demanding the agent self-adapt dynamics. In AI, field studies how rational change knowledge order respond new piece of information known as...

With the quick development of computer and electronic techniques, infrared sensor-based object tracking has become a hot research topic in recent years. However, infrared object tracking is still a challenging task due to low resolution, lack of representing information, and occlusion. In this work, we present an adaptive weighted patch-based infrared object tracking scheme. First, the candidat...

Personalized hypermedia and Web systems are confronted with the challenge of inferring complex user traits like knowledge or preferences from very basic data like the ‘clickstream’ or ordinal–scale ratings. In consequence, the resulting user models are only approximations that must be subject to continuous revision. Nonetheless, knowledge revision procedures are rarely made explicit in existing...

Power system stabilizers have been widely used and successfully implemented for the improvement of power system damping. However, a fixed parameter power system stabilizer tends to be sensitive to variations in generator dynamics so that, for operating conditions away from those used for design, the effectiveness of the stabilizer can be greatly impaired. With the advent of microprocessor techn...

ABSTRACT: In this study, adaptive neuro-fuzzy inference system, and feed forward neural network as two artificial intelligence-based models along with conventional multiple linear regression model were used to predict the multi-station modelling of dissolve oxygen concentration at the downstream of Mathura City in India. The data used are dissolved oxygen, pH, biological oxygen demand and water...