A fractional-order control strategy for pneumatic position servosystem is presented in this paper. The idea of the fractional calculus application to control theorywas introduced inmanyworks, and its advantages were proved. However, the realization of fractional-order controllers for pneumatic position servosystems has not been investigated. Based on the relationship between the pressure in cyl...

An automatic micro manipulation system (AMMS), which aims at various kinds of operations in the field of bioengineering has been developed. Visual servo control is usually employed to improve the performance of the system. However, the visual information can not be obtained as fast as expected because there is a great amount of computation in image processing. This hinders the formation of clos...

AbstmctIn this paper, we present a new approach to sensor-based navigation in cluttered environments. In our system, tasks are specified in terms of visual goals, and obstacles are detected by a laser range finder. To effect task performance, we introduce a new gain scheduling visual servo controller. Our approach uses a diagonal gain matrix whose entries are adjusted during execution according...

In this paper, a cooperative visual servo controller is presented for autonomous citrus harvesting. A fixed camera provides a global view of a tree canopy for the camera-in-hand, attached to the end-effector, to servo to a target fruit. The paper focuses on the development of a robust, image-based, nonlinear visual servo controller to regulate the end-effector to the fruit location in the prese...

Visual servo control schemes use visual information obtained by one or multiple cameras as the primary measurement to regulate the motion of a robot [21, 11, 12, 6]. In the last decade, a number of visual servo control schemes have been proposed that extract homography image transformations between images of a planar scenes and use these as the primary visual information for a servo control pro...

This paper proposes an object oriented framework to model and synthesize robust multi-rate controllers for many of the trackfollowing servo configurations encountered in the hard disk drive (HDD) industry, including traditional single-stage and new dual-stage servos. The proposed object oriented software will be used to synthesize and evaluate the tracking performance of different single-stage ...

Small hobby servo motors designed for remote controlled (RC) model cars and airplanes are commonly used actuators by robotic hobbyists. They also serve as actuation for a number of commercially available robotic kits. These inexpensive RC servo motors can serve as a useful low-cost alternative actuation method for student projects and laboratory investigations. This paper discusses two laborato...

| This paper presents a method for humanoid walking acquisition with less energy consumption based on a two-stage genetic algorithm. In the rst phase of genetic algorithm, in order to acquire the continuous walking motion, the tness function consists of a walking distance (longer is better). In the second phase, the tness function consists of a walking distance (longer) and energy consumption(l...