In this paper we describe a systematic methodology for the construction of computational models for coupled multi-scale dynamic problems with a major focus given to a case study example related to the design of shape memory alloy actuators controlled by thermoelectric effect. From a mathematical point of view, the problem in hand is a coupled dynamic system of partial differential equations whi...

In this article, stability of the robotic manipulator with time delay in open kinematic chain configuration was analyzed. The dynamic equations of motions were derived for one five-degree-of-freedom (DOF) robotic system with system latency. The mathematical model includes the model of the actuators to define the parameters of the actuators that can stabilize such a system. Investigation of the ...

Abstract Compact sensing methods are desirable for ionic polymer–metal composite (IPMC) actuators in microrobotic and biomedical applications. In this paper a novel sensing scheme for IPMC actuators is proposed by bonding an IPMC and a PVDF (polyvinylidene fluoride) thin film with an insulating layer in between. The insulating layer thickness is properly designed to minimize the stiffness of th...

Piezoelectric actuators (PEAs) have been widely used in microand nanopositioning applications due to their fine resolution, fast responses, and large actuating forces. However, the existence of nonlinearities such as hysteresis makes modeling and control of PEAs challenging. This paper reviews the recent achievements in modeling and control of piezoelectric actuators. Specifically, various meth...

Recordings of large neuronal ensembles and neural stimulation of high spatial and temporal precision are important requisites for studying the real-time dynamics of neural networks. Multiple-shank silicon probes enable large-scale monitoring of individual neurons. Optical stimulation of genetically targeted neurons expressing light-sensitive channels or other fast (milliseconds) actuators offer...

The novel approach to the intelligent greenhouse control is based on predictive thermal models and actuator action plans to increase control performance. As operating the actuators essentially changes the thermal dynamics, the overall thermal model is decomposed into sub-models based on the state of the actuators. For the intelligent control it is essential to know the actuator configuration to...

A fault tolerant control system design technique has been proposed and analyzed for managing performance degradation in the presence of multiple faults in actuators. The method is based on a control structure with a model reference reconfigurable control design in an inner loop and command input adjustment in an outer loop. The reduced dynamic performance requirements in the presence of differe...

One of the most popular approaches to developing bipedal walking machines has been to record the human gait and use it as a template for a walking algorithm. In this paper we demonstrate a different approach based on passive dynamics, neural networks, and genetic algorithms. A bipedal machine is evolved in simulation that when pushed walks either forward or backwards just enough to release the ...

This paper describes a laboratory setup suitable for implementing low cost real-time solutions in the fields of control, synchronization and information transmission based on chaotic oscillators. The setup has the following features: (a) it is composed of a Chua oscillator furnished with three actuators thus permitting monoand multi-variable control; (b) the actuators can be driven by the analo...

This paper addresses modeling of guided-wave excitation by surface-bonded piezoelectric wafer transducers in multi-layered composite plate structures. Each of the individual layers is assumed to have unidirectional fibers in an epoxy matrix and is modeled as being transversely isotropic. The piezoelectric actuators are modeled as causing shear traction along their edges on the plate surface and...