BACKGROUND Advances in three-dimensional imaging and three-dimensional printing technology have expanded the frontier of presurgical design for microtia reconstruction from two-dimensional curved lines to three-dimensional perspectives. This study presents an algorithm for combining three-dimensional surface imaging, computer-assisted design, and three-dimensional printing to create patient-spe...

Control of autonomous helicopters in the presence of environmental and system uncertainties is a challenging task. These uncertainties not only change the dynamics of the system but the trim inputs themselves. In this paper, a viable multivariable adaptive control methodology is proposed that is applicable for general maneuvers with arbitrary speeds and high bandwidth requirements. The control ...

This paper presents a novel Representation-Free Model Predictive Control (RF-MPC) framework for controlling various dynamic motions of quadrupedal robot in three dimensional (3D) space. Our formulation directly represents the rotational dynamics using rotation matrix, which liberates us from issues associated with use Euler angles and quaternion as orientation representations. With variation-ba...

This paper proposes a new feedrate control technique of CNC that can achieve high machining accuracy and high productivity. The proposed adaptive neuro-controller adjusts both components of the feedrate and makes an improved command of contour geometry. This control architecture consists of a neural network identifier (NNI) and an iterative learning algorithm with inversion of the NNI. The NNI ...

In this paper, a quaternion-based finite-time sliding mode attitude controller is designed for a spacecraft performing high-thrust orbital maneuvers, with cold gas thrusters as its actuators. The proposed controller results are compared with those of a quaternion feedback controller developed for the linearized spacecraft dynamics, in terms of settling time, steady-state error, number of thrust...