This paper examines the dynamics and control of a variable blade pitch wind turbine during extreme gust subject to actuators saturation. The mathematical model is derived using Lagrange dynamics. controller formulated Takagi–Sugeno fuzzy utilizes parallel distributor compensator obtain feedback gain. controller’s objective generator electromagnetic torque angle attenuate external disturbances. ...

High-speed atomic force microscopy (HS-AFM) has recently been established. The dynamic processes and structural dynamics of protein molecules in action have been successfully visualized using HS-AFM. However, its maximum scan ranges in the X- and Y-directions have been limited to ~1 μm and ~4 μm, respectively, making it infeasible to observe the dynamics of much larger samples, including live c...

Atomic Force Microscopes (AFMs) are widely used for the investigation of samples at the nanometer scale. The metrological AFM used in this work uses a 3 degrees-of-freedom (DOFs) stage, driven by piezo-stack actuators, for sample manipulation in combination with a fixed cantilever. The piezostack actuators suffer from hysteresis, which acts as a nonlinear disturbance on the system and/or can ch...

Lightweight, compliant actuators are particularly desirable in robotic systems intended for interaction with humans. Pneumatic artificial muscles (PAMs) exhibit these characteristics and are capable of higher specific work than comparably-sized hydraulic actuators and electric motors. The objective of this work is to develop a control algorithm that can smoothly and accurately track the desired...

All-terrain robot locomotion is an active topic of research. Search and rescue maneuvers and exploratory missions could benefit from robots with the abilities of real animals. However, technological barriers exist to ultimately achieving the actuation system, which is able to meet the exigent requirements of these robots. This paper describes the locomotion control of a leg prototype, designed ...

One of the key component of an Adaptive Optics system is the deformable mirror. This mirror can correct the atmospheric turbulence effects by changing its shape. In the last years Adaptive Secondary Mirrors (ASM) have been developed and the Large Binocular Telescope (LBT) will be soon equipped with two ASMs. Each LBT ASM unit has 672 voice-coil force actuators to change the shape of the mirror ...

Control forces in semi-active control systems are constrained by the dynamics of actuators that regulate energy transmission through variable damping and/or stiffness mechanisms. The potential benefit of developing and implementing new semi-active control devices and applications can be determined by optimizing the controlled performance subject to the constraints of the dynamics of the system ...

Generating muscle-driven forward dynamics simulations of human movement using detailed musculoskeletal models can be computationally expensive. This is due in part to the time required to calculate musculotendon geometry (e.g., musculotendon lengths and moment arms), which is necessary to determine and apply individual musculotendon forces during the simulation. Modeling upper-extremity musculo...

This paper presents a nonlinear control scheme for position control of a flexible beam system using Shape Memory Alloy (SMA) actuators. Due to their interesting properties such as force generation capacity, possibility of miniaturization, and power consumption, these devices have been gaining increased popularity in the past few years. However, SMA actuators possess undesirable characteristics ...

A body of effort has been devoted to developing efficient algorithms for kinematics and dynamics computation of robotic mechanisms, and has been successfully applied to control and simulation of complex mechanisms including industrial manipulators and humanoid robots. Thanks to such effort, as well as the recent progress in the computation power, it is becoming more realistic to apply these alg...