Robot systems in critical applications, such as those in space and nuclear environments, must be able to operate during component failure to complete important tasks. One failure mode that has received little attention is the failure of joint position sensors. Current fault tolerant designs require the addition of directly redundant position sensors which can affect joint design. The proposed m...

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This paper presents a multi-stage approach toward the robust classification of travel-modes from GPS traces. Due to the fact that GPS traces are often composed of more than one travel-mode, they are segmented to find sub-traces characterized as an individual travel-mode. This is conducted by finding individual movement segments by identifying stops. In the first stage of classification three ma...

In this paper we present a sliding mode based vehicle control strategy, which includes anti-lock braking and anti-spin acceleration. This strategy uses the slip velocity as controlled variable instead of wheel slip. The sliding mode control is integrated with an adaptation process for the unknown and varying adhesion coefcient of the tire/road interface. The proposed control method is veried ...

The design of the Linear Gridless Ion Thruster, or LGIT, is presented in detail. The LGIT is a hybrid thruster that combines an ionization stage similar to those normally found on gridded ion engines with the acceleration mechanism of a Hall effect thruster. This thruster also features a linear geometry, which simplifies the design of the magnetic circuit while making the LGIT particularly well...

Using a new, second-order accurate numerical method we present dynamical simulations of oblique MHD cosmic ray (CR) modified plane shock evolution using the two-fluid model for diffusive particle acceleration. The numerical shocks evolve to published analytical steady state properties. In order to probe the dynamical role of magnetic fields we have explored for these time asymptotic states the ...

Abstract This paper presents a new Sliding Mode Control (SMC) method based on Model Predictive Control (MPC) algorithm for the slip suppression of EVs. The proposed method focusses on improving the acceleration performance and low energy consumption of EVs by controlling the slip ratio of wheel under driving. In this paper, the extended SMC method is proposed to improve the control performance ...