Underactuated manipulation is the process of controlling several object degrees-of-freedom with fewer robot actuators. Underactuated manipulation allows us to build dexterous robots with only a few actuators. In this paper we explore the possibility of useful dynamic manipulation with only a single actuator. Our case study is a ball rolling in an asymmetrical bowl which can be accelerated along...

This paper deals with the thickness and flatness control problem in heavy plate mills. After a short description of the industrial plant the first part of the paper is concerned with a new control strategy for the improvement of the thickness homogeneity over the plate length. This model–based concept takes into account valuable information from previous passes which, together with accurate mat...

The objective of the current research is to model and control the wiresaw manufacturing processes in wafer slicing. Other than a few patents in industrial management of wiresaw, the wiresaw manufacturing process has remain poorly investigates. The purpose of this research is to investigate and understand the fundamental mechanism of this critical technology in slicing silicon wafers and ceramic...

The article presents the possibility of using currents’ physical components (CPC) theory to generate reference current active power filter (APF). solution proposed by authors is based on cooperation minimizing balancing compensators (MBC), which, due their use in 4-wire systems, have been divided into two structures. first compensator, which purpose minimize and balance reactive unbalanced zero...