Dean of the Graduate College ii PREFACE The methodology of variable structure with sliding mode is proven to be very successful in controlling uncertain continuous-time dynamical systems. When the system is sampled or purely discrete, the invariance property of sliding mode, which is originally a continuous-time concept, no longer hold and the reaching condition has to be modiied to allow a pse...

In the pleural space, sliding between the lung and chest wall induces shear stress that could damage the delicate mesothelial cells covering the tissue surfaces. Normally, the pleural space, which is filled with fluid, is able to sustain continuous shear loading throughout its lifetime. To understand the mechanisms in preventing frictional damage on mesothelial tissue, we conducted experiments ...

Flagellar dynein generates forces that produce relative shearing between doublet microtubules in the axoneme; this drives propagated bending of flagella and cilia. To better understand dynein's role in coordinated flagellar and ciliary motion, we have developed an in situ assay in which polymerized single microtubules glide along doublet microtubules extruded from disintegrated bovine sperm fla...

The 'amitotic' division of the macronucleus during binary fission in P. tetraurelia includes a detailed sequence of shape changes that are temporally coordinated with the adoption of a series of well-defined positions and orientations inside the cell. The deployment of nucleoplasmic microtubules that is spatially correlated with the shaping ritual is more complex and precise than has been repor...

The camera stabilizer stabilizes the camera’s line of sight by isolating the camera from the model uncertainties, disturbances of operating environment and system movements. This paper presents a voltage-base optimal adaptive fuzzy sliding mode control for camera stabilizer. In this proposed control method, a voltage-base sliding mode controller is applied. But unfortunately, undesirable ...

This paper designs an Optimized Adaptive Combined Hierarchical Sliding Mode Controller (OACHSMC) for a time-varying crane model in presence of uncertainties. Uncertainties have always been one of the most important challenges in designing control systems, which include the unknown parameters or un-modeled dynamics in the systems. Sliding mode controller (SMC) is able to compensate the system in...

A new design approach for an adaptive fuzzy sliding mode controller (AFSMC) for linear systems with mismatched time-varying uncertainties is presented. The coefficient matrix of the sliding function can be designed to satisfy a sliding coefficient matching condition provided time-varying uncertainties are bounded. With the sliding coefficient matching condition satisfied, an AFSMC is proposed t...

in this research, an apparatus was made and utilized to determine the friction coeffi-cient of chickpea grains on steel surfaces. experiments were carried out on two black and galvanized surfaces and at four sliding velocities of 5, 20, 100 and 500 mm/min, at three moisture content of 7.5%, 15% and 21% wet basis (w.b.) and at three vertical pressure values of 14.28, 100 and 150 kpa. the followi...

Satisfactory results of automatic guidance of farm vehicles have been achieved in previous works as long as vehicles move without sliding, but unfortunately in agricultural applications, sliding always occurs inevitably which causes loss of accuracy. In this paper the problem of path following control of autonomous farm vehicles subject to sliding is addressed. To take sliding effects into acco...