Eroded sediments from catchment areas transport by streams and deposit in downstream less steep areas. Despite reducing the useful life of various hydraulic structures including reservoir dams, flood walls, and bridges, this phenomenon changes the main river hydraulic conditions and increases the flood prone farms in the riverbank area. Check dams are among the structures that can prevent form ...

This paper studies the coordinated motion control of robotic manipulators driven by single-rod hydraulic actuators. Compared to conventional robot manipulators driven by electrical motors, hydraulic robot arms have a richer nonlinear dynamics and stronger couplings among various joints (or hydraulic cylinders). This paper presents a physical model based adaptive robust control (ARC) strategy to...

This paper studies the coordinated motion control of robotic manipulators driven by single-rod hydraulic actuators. Compared to conventional robot manipulators driven by electrical motors, hydraulic robot arms have a richer nonlinear dynamics and stronger couplings among various joints (or hydraulic cylinders). This paper presents a physical model based adaptive robust control (ARC) strategy to...

conclusions based on nitrification and denitrification data, the best condition for nitrifying/ denitrifying performance was obtained by modified-ifas. hence, the modification can be used to obtain the best activities of microbial and nitrogen removal improvement. results employing the bet, surface area (sa), total pore volume (vp), and average size of the nanostructure were 0.4026 m2/g, 3.8089...

Overtopping wave energy converters (OWECs) are designed to extract energy from ocean waves based on wave overtopping into a reservoir, which is emptied into the ocean through a set of low-head turbines, and typically feature a low crest freeboard and a smooth impermeable steep slope. In the process of optimizing the performance of OWECs, the question arises whether adapting the slope geometry t...

Impedance control of a hydraulic servoactuator joint system is discussed in this paper. Impedance control imparts a desired behavior to a system, rather than it controls position or force individually. Due to nonlinear properties of hydraulic actuators, impedance control is difficult. The control strategy presented here involves a combined feedforward and feedback control. An impedance filter m...

The hydraulic human power amplifier is a tool that uses hydraulic actuation to amplify the force that the human exerts on it. Our control objective and framework are to make the system behave like a passive mechanical tool when interacting with the human and with the work environment with a specified power scaling factor. A virtual velocity coordination control approach casts the human power am...

One of the most promising novel evolutionary algorithms is the Differential Evolution (DE) algorithm for solving global optimization problems with continuous parameters. In this article the Differential Evolution algorithm is proposed for handling nonlinear constraint functions to find the best initial weights of neural networks. The highly non-linear behaviour of servo-hydraulic systems makes ...

Numerous advancements in machinery performance on row-crop agricultural tractors have been made in recent years. Currently, the Organisation for Economic Co-operation and Development (OECD) only tests predetermined points (E.g., max. power, max. torque) for drawbar and hydraulic power. This method of testing has been used for many years with the tractor at a steady state which is usually not ty...

This paper studies the coordinated motion control of a hydraulic arm driven by single-rod hydraulic actuators (a scaled down version of an industrial backhoe/excavator arm). Compared to conventional robot manipulators driven by electrical motors, hydraulic arms have a richer nonlinear dynamics and strong couplings among various joints (or hydraulic cylinders). This paper presents a physical mod...