The optimal motion planning problems for manipulator arms have been actively researched in robotics in the past two or three decades because the optimal motions that minimize actuator forces, energy consumption, or motion time yield high productivity, efficiency, smooth motion, durability of machine parts, etc. These merits are more apparent when the manipulator arms execute repeated motions. T...

of Dissertation Presented to the Graduate School of the University of Florida in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy LYAPUNOV-BASED CONTROL OF SATURATED AND TIME-DELAYED NONLINEAR SYSTEMS By Nicholas Fischer December 2012 Chair: Warren E. Dixon Major: Mechanical Engineering Time delays and actuator saturation are two phenomena which affect the performa...

introduction: the critical dependence of healthcare services systems on information along with the indigenous restriction of paper documents in satisfying this need has caused a trend toward computer information systems. the main goal of such systems is to achieve electronic health records (ehr). however, implementation of ehr in healthcare organizations is difficult and complicated. this resea...

Model predictive control (MPC) is an attractive control scheme for embedding fault tolerance since, by being an optimal-control scheme solved online, it enables directly updating of the system model and constraints. Yet, there are several processes and systems where fault accommodation simply by updating the internal MPC model is infeasible. Of particular such interest is process plants with ex...

in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. the problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

in this paper, a complete model of an electro hydraulic driven dry clutch along with its performance evaluation has elucidated. through precision modeling, a complete nonlinear physical and full order sketch of clutch has drawn. ultimate nonlinearities existent in the system prohibits it from being controlled by conventional linear control algorithms and to compensate the behavior of the system...

This paper describes the development of a new piezohydraulic actuator for broadband microjet flow control applications. The actuator utilizes a lead zirconate titanate (PZT) stack actuator and a hydraulic amplification design to achieve relatively large displacements in a compact actuator to control flow through a microjet orifice. Displacement amplification of 81 times the stack actuator displ...

1. Abstract Recently there is a growing need for micro water cooling systems with the development of small-sized fuel cells for mobile electric devices. In general, a water cooling system requires a valve for controlling flow rate of coolant in order to keep targeted devices at appropriate working temperature. Traditional type of a flow control valve is driven by an external power source and a ...