This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

this paper presents a discrete-time robust control for electrically driven robot manipulators in the task space. a novel discrete-time model-free control law is proposed by employing an adaptive fuzzy estimator for the compensation of the uncertainty including model uncertainty, external disturbances and discretization error. parameters of the fuzzy estimator are adapted to minimize the estimat...

Electroluminescence from a single quantum dot within the intrinsic region of a p-i-n junction is shown to act as an electrically driven single-photon source. At low injection currents, the dot electroluminescence spectrum reveals a single sharp line due to exciton recombination, while another line due to the biexciton emerges at higher currents. The second-order correlation function of the diod...

Fine jets of slightly conducting viscous fluids and thicker jets or drops of less viscous ones can be drawn from conducting tubes by electric forces. As the potential of the tube relative to a neighbouring plate rises, viscous fluids become nearly conical and fine jets come from the vertices. The potentials at which these jets or drops first appear was measured and compared with calculations. T...

Enhanced light-matter interactions in light-confining structures (such as optical cavities) have been extensively investigated for both fundamental studies and practical applications. Plasmonic nanostructures, which can confine and manipulate light down to the nanometer scale, are becoming increasingly important (Atwater 2007, Brongersma 2009). Plasmonic resonators and antennas can convert free...