This paper presents the design, prototype implementation and experimental evaluation of DIOS++, an infrastructure for enabling rule-based management and control of distributed scientific applications. DIOS++ provides: (1) abstractions to enhance existing application objects with sensors and actuators for runtime interrogation and control, access policies to control accesses to sensors/actuators...

Motion Control of Smart Material Based Actuators: Modeling, Controller Design and Experimental Evaluation Sining Liu, Ph.D. Concordia University, 2013 Smart material based actuators, such as piezoelectric, magnetostrictive, and shape memory alloy actuators, are known to exhibit hysteresis e ects. When the smart actuators are preceded with plants, such non-smooth nonlinearities usually lead to p...

flapping-wing robotic insects are small, highly maneuverable flying robots inspired by biologicalinsects and useful for a wide range of tasks, including exploration, environmental monitoring, searchand rescue, and surveillance. recently, robotic insects driven by piezoelectric actuators have achievedthe important goal of taking off with external power; however, fully autonomous operation requir...

The steps for modeling and control of a hydraulic rotary actuator are discussed. Our aim is to present experimental results working with a particular sensing device for angular position as a complement to pressure sensing devices. We provide the steps in experimental system identification used for modeling the system dynamics. The cascade controller designed contains an inner loop for an accura...

In this paper, we propose a control scheme for the position of Variable Cam Timing (VCT) actuators. We take into account the observation by (Genç et al., 2001) that these actuators feature a significant nonlinearity, but we use a different approach. We perform a model reduction of mechanics, pressure, flows and balance equations. It serves to design an observer used in a motion planning strateg...

A novel idea of using giant magnetostrictive material (GMM) based actuators for journal bearing control is presented in this paper. Frequency response tests on GMM actuators and a journal bearing system were examined. The performances of the system running at various journal shaft rotational speeds under control were investigated. With the aid of GMM actuators, the performances on journal shaft...

In this paper, a novel adaptive control allocation framework is proposed. In the adaptive control allocation structure, cooperative actuators are grouped and treated as an equivalent control effector. A state feedback adaptive control signal is designed for the equivalent effector and allocated to the member actuators adaptively. Two adaptive control allocation algorithms are proposed, which gu...

A novel approach is proposed for the attitude stabilization and reorientation of an axi-symmetric spacecraft subject to two gas jet actuators. The approach is based on a new formulation of the attitude kinematics. Abstract| In this paper we consider the problem of attitude stabilization of an axi-symmetric spacecraft using two pairs of gas jet actuators. These actuators provide control torques ...

Hydraulic actuators have high power-to-weight ratios, making them suitable for high-power robotic applications such as in walking robots and construction machines. However, large frictional forces in hydraulic actuators, rotary hydraulic actuators in particular, degrade the control performance. To suppress frictional forces and increase robustness against modeling errors, this study considered ...