This article describes an implementation of real-time simulation and control in DEVS-Scheme, a knowledge-based, discrete event environment. We illustrate a methodology in which the plant, its actuators and sensors are described by discrete event models developed within the event-based control paradigm. A model of the controller is employed to validate its design in a plant/actuator/sensor exper...

This paper presents a method for computing the motions of a robot in dynamic environments, subject to the robot dynamics and its actuator constraints. This method is based on the concept of Velocity Obstacle, which deenes the set of feasible robot velocities that would result in a collision between the robot and an obstacle moving at a given velocity. The avoidance maneuver at a spe-ciic time i...

Pneumatic actuators offer several advantages over electromechanical and hydraulic actuators for positioning applications. Nonetheless, pneumatic actuators are subject to high friction forces, dead band and dead time, which make fast and accurate position control difficult to achieve. This research paper presents the process of controller identification, design, modeling and control for pneumati...

This paper is concerned with full vehicle nonlinear active suspension systems, in which each suspension unit consists of three components: a nonlinear spring, a nonlinear damper and a nonlinear hydraulic actuator. An artificial intelligence Neural Control technique has been presented in this paper to design a robust controller for full vehicle nonlinear active suspension systems. The advantage ...

Electro-hydraulic actuators are very important tools for industrial processes because they provide linear movement, fast response and accurate positioning of heavy load. Recently, with the research and development of mathematics, control theory and basic theory of hydraulic, hydraulic control technology has been developed and has been widely used in many applications such as industrial automati...

While the top-down approach of artificial intelligence encounters the frame problem, the bottom-up approach based on a creature’s evolution and behavior is effective for robotic design of intellectual behavior in a specific field. We propose the Evolutionary Behavior Table System (EBTS) using a simple genetic algorithm (SGA) to acquire the autonomous cooperative behavior of multiagents as the b...

A major challenge faced in the design of large-scale cyber-physical systems, such as power systems, the Internet of Things or intelligent transportation systems, is that traditional distributed optimal control methods do not scale gracefully, neither in controller synthesis nor in controller implementation, to systems composed of millions, billions or even trillions of interacting subsystems. T...

micro-electro-mechanical systems (mems) are combination of electrical and mechanical components in micron dimensions. in recent years, holding, actuating methods and handling of mems components such asmicrogripper, microsensors and etc. have been deeply studied. microgrippers for handling, positioning andassembling of micro components are very useful so that for clamping need actuation created ...

conjugated polymer actuators can be employed to achieve micro and nano scale precision, and have a wide range of applications including biomimetic robots, and biomedical devices. in comparison to robotic joints, they do not have friction or backlash, but on the other hand, they have complicated electro-chemo-mechanical dynamics which makes modelling and control of the actuator really difficult....