We analyze the dynamics of structural transitions between normal right-handed B form and unusual left-handed Z form for a linear DNA molecule. The dynamics under the external torque in physiological buffer is modeled by a Langevin equation, with the potential term given by the authors previously [Phys. Rev. E 84, 021926 (2011)]. With this model, we first simulate the relaxation processes around...

In this study, a new servo control system is presented for the overhead crane based on discrete-time state feedback approach. It provides both robust tracking and load swing suppression. Inspired from independent joint and computed torque control in robot manipulator field, a new model is derived in which the crane actuators are considered as the main plant. The crane nonlinearities are then tr...

This paper studies two important questions related with switched reluctance machines: 1. In what conditions we can consider to use the SRM linear model but with sufficient accuracy to predict its steady-state characteristics? 2. To take or not to take into account the mutual inductances in the 6/4 SR non-linear model? Are there any significant errors when we neglect the phase mutual inductances...

It is well known that computed torque robot control is subjected to performance degradation due to uncertainties in robot model, and application of neural network(NN) compensation techniques are promising. In this paper we examine the eeectiveness of NN as a compensator for the complex problem of Cartesian space control. In particular we examine the diierences in system performance when the sam...

Gravity causes non-linearity in position control of an articulated industrial robotic arm. Especially for a joint robot’s shoulder and elbow that works parallel with the gravity direction. To overcome problem, Computed Torque Control algorithm was implemented. This linearized feedback, so regular linear Proportional Derivative controller can be The contribution this research is to find effectiv...

Introduction Eccentric (negative) resistance exercise of the legs using specialized machines has been reported to be useful and often superior to standard exercise following total knee arthroplasty (TKA). Movements that utilize body mass and gravity as a mode of eccentric resistance exercise in a more pragmatic rehabilitation paradigm may also be useful in reversing chronic muscle impairments o...

In this paper we report on the design, modeling, experimental testing and scaling analysis of a novel MAgnetic Variable stiffnEess spRIng-Clutch (MAVERIC) device, which may be used as the elastic element of Variable Stiffness Actuators (VSAs). The device, comprising two co-axial diametrically magnetized hollow cylinders, has two degrees of freedom: a rotation of the two cylinders around the com...

The paper presents a mathematical base modeling combined to Modified-Winding -Function-Approach (MWFA) for eccentricity fault detection of a round-rotor synchronous machine. For this aim, a 6-pole machine is considered, and the machine inductances are computed by MWFA in healthy and also under eccentricity fault. A numerical discrete-time method has been proposed to machine modeling in voltage-...