We present a time and energy optimal controller for a two-wheeled differentially driven robot. We call a mission the task of bringing the robot from an initial state to a desired final state (a state is the aggregate vector of the position and velocity vectors). The proposed controller is time optimal in the sense that it can determine the minimum amount of time required to perform a mission. T...

this study determined optimum conditions for drying pomegranate arils in a solar dryer. a cabinet solar dryer was used in active and mixed modes. the response surface method was employed with nine treatments (runs) and a control run (3 m/s air velocity and 2 cm in thickness) and five replications. the bryte cultivar was tested and samples were dried to approximately 10% moisture. drying time, v...

In this paper, we study the exact controllability of a system of weakly coupled wave equations with an internal locally control acted on only one equation. Using a piecewise multiplier method, we show that, for a sufficiently large time T , the observation of the velocity of the first component of the solution on a neighborhood of a part of the boundary allows us to get back a weakened energy o...

This paper describes the approach developed by the CAMBADA robotic soccer team to address physical constraints regarding omni-directional motion control, with special focus on system delay. CAMBADA robots carry inherent delays which associated with discrete time control results in non-instant, non-continuous control degrading the performance over time. Besides a natural maximum velocity, CAMBAD...

High servo control response and high energy-efficiency are requested in hydraulic servo systems of current hydraulic machines. This investigation concurrently implements energy-saving control and velocity-force control for simultaneously realizing high velocity-force control response and high energy-efficiency for hydraulic valve-controlled cylinder systems. The velocity-force control of the hy...

Self-Optimizing Control and Passive Velocity Field Control of Intelligent Machines

Path following control problem is treated in recent years. In many past results of path following control, it is assumed the plant has single-input and the velocity of the plant is considered as constant value. However, when we have to reduce traveling time, we must control velocity of the plant in tracking problem. In this paper, velocity control and path following task are achieved at the sam...

Increasing demands in performance and quality make drive systems fundamental parts in the progressive automation of industrial process. The analysis and design of Mechatronics systems are often based on linear or linearized models which may not accurately represent the servo system characteristics when the system is subject to inputs of large amplitude. The impact of the nonlinearities of the d...

This paper studies bounded-velocity control of a Brownian motion when discretionary stopping, or ‘leaving’, is allowed. The goal is to choose a control law and a stopping time in order to minimize the expected sum of a running and a termination cost, when both costs increase as a function of distance from the origin. There are two versions of this problem: the fully-observed case, in which the ...

Two concepts are advocated for the task specification and control of mechanical manipulators: 1) coding tasks in terms of velocity fields; 2) designing controllers so that the manipulator when under feedback control, interacts in an energetically passive manner with its physical environment. Based on these two concepts, a new passive velocity field controller (PVFC) is proposed which mimics the...