The force-moment capabilities of redundantlyactuated planar-parallel manipulator (PPM) architectures are investigated. A previously developed explicit methodology for generating the force-moment capabilities of redundantly-actuated PPMs is used on three different architectures. The results for the 3-RRR, 3-RPR, 3-PRR layouts, where the underline denotes the actuated joints, are presented and di...

BACKGROUND The performance of nebulizers varies with the design type as well as the breathing patterns of various age groups. The present study quantified aerosol delivery using spontaneously breathing parameters of a small child (2-4 years) by a lung simulator to determine the influence of nebulizer type, actuation mechanisms, and pediatric aerosol masks. METHODS Three types of nebulizer (c...

We present a design for a miniature self-priming peristaltic pump actuated with a single linear actuator, and which can be manufactured using conventional materials and methods. The pump is tolerant of bubbles and particles and can pump liquids, foams, and gases. We explore designs actuated by a motor (in depth) and a shape memory alloy (briefly); and briefly present a manually actuated version...

A an uncertainty model is presented that is useful to the robust control design. Under-actuated state affine systems are considered. A partially linear model is gotten taking into account the second and third order partial derivatives of the Taylor series expansion around a constant equilibrium point. This model includes the linear model and constant matrices multiplied by the quadratic and cub...

In this paper, phase and speed synchronization control of four eccentric rotors (ERs) driven by induction motors in a linear vibratory feeder with unknown time-varying load torques is studied. Firstly, the electromechanical coupling model of the linear vibratory feeder is established by associating induction motor's model with the dynamic model of the system, which is a typical under actuated m...

The sliding mode technique is used to control the deformation of a membrane mirror strip augmented with two macrofiber composite bimorphs located near the ends of the strip. The first bimorph is actuated in bending and the second is actuated axially. The structure is modeled as an Euler–Bernoulli beam under tensile load and the macrofiber composite patches are modeled as monolithic piezoceramic...

Robotic devices, such as rovers and autonomous spacecraft, have been successfully controlled by plan execution systems that use plans with temporal flexibility to dynamically adapt to temporal disturbances. To date these execution systems apply to discrete systems that abstract away the detailed dynamic constraints of the controlled device. To control dynamic, under-actuated devices, such as ag...