In this paper we introduce a new continuous dynamic controller for a class of nonlinear systems which includes mechanical system models with a bristle model for nonlinear friction eeects. We obtain suucient conditions for global stabilization using an estimate for bristle defec-tion and present experimental results illustrating the beneets of our dynamic controller in the regulation of a high s...

The Global Positioning System, GPS technology has been widely used in positioning and attitude determination. It is well known that the accuracy, availability and reliability of the positioning results are heavily dependent on the number and geometric distribution of tracked GPS satellites. Because of this limitation, in some situations, such as in urban canyons, underground space or inside of ...

although construction has been known as a highly complex application field for autonomous robotic systems, recent advances in this field offer great hope for using robotic capabilities to develop automated construction. today, space research agencies seek to build infrastructures without human intervention, and construction companies look to robots with the potential to improve construction qua...

Introduction: As dedicated endoscopy suites for skull base surgery are becoming more prevalent, it is important to consider the optimal operative room setup. Multiple techniques have been presented for surgeon positioning for two-team endoscopic skull base surgery. Classically, the neurosurgeon and otolaryngologist stand adjacent to each other on the same side of the patient bed while operating...

Abstract: This paper presents the modeling and multivariable feedback control of a novel highprecision multi-dimensional positioning stage. This integrated 6-degree-of-freedom (DOF) motion stage is levitated by three aerostatic bearings and actuated by 3 three-phase synchronous permanent-magnet planar motors (SPMPMs). It can generate all 6-DOF motions with only a single moving part. With the DQ...