We focus on manipulating the object of unknown shape, weight and friction properties in hand task. Unlike the traditional method considering the manipulation as multi times grasp planning, we follow the behavior robotics opinion and propose the reactive manipulation strategy. Firstly, we design the compact closed loop control (local controller) to manipulate object in the neighbor area of its c...

We show that a finite dimensional strictly passive linear controller exponentially stabilizes a large class of partial differential equations which are actuated through its boundaries on a one dimensional spatial domain. This is achieved by extending existing results on exponential stability of boundary control system with static boundary control to the case with dynamic boundary control. The a...

This paper deals with single-wheel suspension car model. The benefits of controlled semi-active suspensions compared to passive ones are here emphasized. The contribution relies on robust analysis of a controller which improves comfort and road holding of the car under industrial specifications. Simulations on an exact nonlinear model of the suspension are performed for control validation.

A low power implementation of a secure EPC UHF passive digital base band processor will be designed for UWB transceiver on RFID for wireless application. To ensure the secure information transaction of the passive tag, traditionally the focus is on directly applying a low complexity encryption engine. The attackers could make use of known header to reveal the secret key. The proposed architectu...

This article presents a new planar translational cable-direct-driven robot 1 (CDDR) with actuation redundancy and supported against loading normal to the 2 motion plane with a passive planar two-degree-of-freedom SCARA-type (Selective 3 Compliance Assembly Robot Arm) serial manipulator. This allows the robot to 4 resist cable sag without being supported on the motion plane. The proposed robot 5...

L m 2-stable digital-control networks for multiple continuous passive plants. A constructive method is presented in which L m 2-stability can be guaranteed for networked control of multiple passive plants in spite random time varying delays and data dropouts. The passive plants are interfaced to a wave variable based passive sampler (PS) and passive hold (PH) which allows a passive digital cont...

This article presents an intelligent fuzzy logic controller (FLC) for controlling single-body heaving wave energy converter (WEC) or what is widely known as “Point Absorber”. The controller aims at maximizing the energy captured from the sea waves. The power take-off (PTO) limitations are addressed implicitly in the fuzzy inference system (FIS) framework. In order to enhance the WEC power captu...

Recently there has been growing interest in building “active” visual object recognizers, as opposed to “passive” recognizers which classifies a given static image into a predefined set of object categories. In this paper we propose to generalize recent end-to-end active visual recognizers into a controller-recognizer framework. In this framework, the interfaces with an external manipulator, whi...

This paper presents the modelling and design steps of a digital proportional multi-resonant controller used in a grid-connected photovoltaic (PV) system. It is shown that the use of only one ProportionalResonant (PR) compensator, tuned to the system fundamental frequency, may have its effectiveness compromised due to nonlinearities in the system components. To overcome this drawback and improve...

Autonomous Dynamical Systems (DS) has emerged as an extremely flexible and powerful method for modeling robotic tasks. Task execution of DS models is typically done in an open-loop manner in combination with standard low level controller, e.g. position controller or impedance controller. Such an arrangement has two important drawbacks 1) it is not passive and 2) the DS model can not respond to ...