While the existing thermomechanical constitutive models can predict the behavior of SMAactuated systems in most cases, in this study, we have shown that there are certain situations in which these models are not able to predict the behavior of SMAs. To this end, a rotary SMA-actuated robotic arm is modeled using the existing constitutive models. The model is verified against the experimental re...

The authors propose a real-time adaptive signal control model that aims to maintain the adaptive functionality of actuated controllers while improving the performance of traffic-actuated control systems. In this model, a flow-prediction algorithm is formulated to estimate the future vehicle arrival flow for each signal phase at the target intersection on the basis of the available signal-timing...

A Furuta pendulum is a serial connection of two thin, rigid links, where the first link is actuated by a vertical control torque while it is constrained to rotate in a horizontal plane; the second link is not actuated. The second link of the conventional Furuta pendulum is constrained to rotate in a vertical plane orthogonal to the first link, under the influence of gravity. Methods of geometri...

Under-actuated 6/3-DOF haptic devices are mostly used for simple 3-DOF point-based haptic interaction because of missing torque feedback. In this work, we present a system involving sensory substitution and pseudo-haptic feedback that effectively simulate torque feedback using visuo-tactile cues. The proposed system was implemented into a 6DOF haptic rendering algorithm and tested on an under-a...

In this paper$we present a self-developed under-actuated Unmanned Underwater Vehicle (Hereinafter abbreviated as UUV). After analyzing the motion and actuating characteristics of the UUV, the maneuvering motion models are established in the horizontal plane and vertical plane separately. Considering the model parameter uncertainties and unknown environmental disturbances, the course and depth a...

Abstract: This paper presents a comprehensive comparative study of several nonlinear controllers for stabilisation of the under actuated unstable nonlinear object known as the Acrobot in the literature. The object is a two DOF robot arm only actuated at the elbow. The study compares several control algorithms from the literature and a new algorithm developed during the study. The comparison is ...