We demonstrate mass-producible, tetherless microgrippers that can be remotely triggered by temperature and chemicals under biologically relevant conditions. The microgrippers use a self-contained actuation response, obviating the need for external tethers in operation. The grippers can be actuated en masse, even while spatially separated. We used the microgrippers to perform diverse functions, ...

We show how to achieve large-amplitude oscillation and good frequency stability in a nonlinear NEMS oscillator by using a softening nonlinearity to locally balance the hardening behaviour of the Duffing nonlinearity for a given motion amplitude. The case when the softening behaviour is obtained via electrostatic biasing is theoretically investigated, under parallel-plate assumptions, for a full...

In this paper we propose a Fractional Order Controller for an under-actuated system (POAC). This system has two degrees-of-freedom and one control input. The model of the system is derived using Euler Lagrange method and the stabilization is achieved with constraints using Fractional Order Controller. To validate the control law, simulation are performed and compared with Integer Order Controll...

We present a variant of the model introduced by Vogel and Yang [J. Opt. Soc. Am. A23, 1074 (2006)] for point-actuated deformable mirrors (DMs) with continuous facesheets, and we describe a robust efficient regularized- output least-squares computational scheme to estimate the parameters in the model, given noisy discrete observations of the DM response to known actuation. We demonstrate the eff...

A technique to design a dynamic continuous controller to regulate a class of full-actuated mechanical systems with dry friction is proposed. It is shown that the control eliminates the steady-state error and is robust with respect to parameter uncertainties. A simple method to find the parameters of the controller is also proposed. Moreover, an application of this result to control a 2-DOF unde...

Adaptive control is a critical component of reliable robot autonomy in rapidly changing operational conditions. designs benefit from disturbance model, which often unavailable practice. This motivates the use machine learning techniques to learn features training data offline, can subsequently be employed compensate disturbances online. paper develops geometric adaptive with learned model for r...

Friction is a nonlinear phenomenon which has destructive effects on performance of control systems. To obviate these effects, friction compensation is an effectual solution. In this paper, an adaptive technique is proposed in order to eliminate limit cycles as one of the undesired behaviors due to presence of friction in control systems which happen frequently. The proposed approach works for n...

The Acrobot, a two-link arm that is unactuated at the first joint, is challenging to control because it is an under actuated, nonlinear, continuous system. We describe a direct search algorithm for finding swingup trajectories for the Acrobot. The algorithm uses a Iookahead search that maximizes the Acrobot’s totaf energy in an N-step window. Because the controls are extremal and the number of ...