Self-sensing refers to extracting the position information from the electromagnetic signals instead of from a physical position sensor. Self-sensing actuator has the benefit of significantly reducing hardware effort. In this paper, we investigate selfsensing actuators applied in direct acing proportional valves. The study is based on the configuration of a dual-solenoid actuator where each sole...

The closed-loop dynamics of a chaotic electrostatic microbeam actuator are presented. The actuator was found to be an asymmetric two-well potential system with two distinct chaotic attractors: one of which occurs predominantly in the lower well and a second that visits a lower-well orbit and a two-well orbit. Bifurcation diagrams obtained by sweeping the ac voltage amplitudes and frequency are ...

This paper considers the problem of terminal sliding mode control (TSMC) for uncertain MIMO systems in which the actuator faults may happen in any channel of actuators. By means of state transformation and exponent-logarithmic sliding surface method, a reliable TSMC is proposed such that both the finite-time stability of sliding mode dynamics and the reachability of sliding surface are ensured,...

This paper presents a new multi-agent physics-based simulation framework (DISCOVERY), supporting experiments with self-organizing underwater sensor and actuator networks. DISCOVERY models mobile autonomous underwater vehicles, distributed sensor and actuator nodes, as well as multi-agent datato-decision integration. The simulator is a real-time system using a discrete action model, fractal-base...

Recently, a novel fluidic actuator using steady suction and oscillatory blowing was developed for active control of high-speed turbulent flows (Arwatz et al. 2008). The suction and oscillatory blowing (SaOB) actuator converts compressed air input into pulsed bistable oscillatory blowing at the actuator outlets. The mechanism for generating bi-stable oscillatory blowing is based upon the Coandă ...

We present a model-based approach to recover the rigid and non-rigid facial motion parameters in video sequences. Our face model is based on anatomically motivated muscle actuator controls to model the articulated non-rigid motion of a human face. The model is capable of generating a variety of facial expressions by using a small number of muscle actuator controls. We estimate rigid and non-rig...

A four-legged pneumatically actuated search and rescue robot is presented as a system with potentially enhanced versatility relative to existing rescue robots. The usage of fluid powered actuation, combined with tele-operation of the robot via an operator workstation, enables the twelve degree of freedom robot to better manipulate large objects. A simulation is developed to enable ease of desig...