A ball balancing beam is a nonlinear dynamic system which is quite di cult to control using conventional methods since some special mathematical techniques and control theory knowledge are required to derive the equations. There are di cult issues in this system: it has delayed feedback associated with control actions; and the \jumping ball" phenomenon brings sensor uncertainty. Balancing is es...

Despite the large number of controllers presented in the literature for the stabilization of the ball and beam system, only a few results are available on the transient performance problem. The aim of this paper is to propose an asymptotically stabilizing controller that ensures that, for a well–defined set of initial conditions, the ball remains on the bar during the transient. Tuning the cont...

In this paper, a nonlinear control law is proposed for the curved ball and beam system with the ball at the upright position. The stabilization of such a system is challenging, as compared to conventional ball and (straight) beam system, due to the presence of two unstable equilibrium points and the gyroscopic forces appearing in its dynamics. Further, the system belongs to the interesting clas...

This research paper presents a novel controller design for one degree of freedom (1-DoF) stabilizing platform using inertial sensors. The plant is a ball on a pivoted beam. Multi-loop controller design technique has been used. System dynamics is observable but uncontrollable. The uncontrollable polynomial of the system is not Hurwitz hence system is not stabilizable. Hybrid compensator design s...

In this work, wear behavior and microstructural characterization of porous layers produced in glass-ceramic substrates by pulsed laser irradiation in the nanosecond range are studied under unidirectional sliding conditions against AISI316 and corundum counterbodies. Depending on the optical configuration of the laser beam and on the working parameters, the local temperature and pressure applied...

The aim of this research work was to investigate on the ball filling estimation of Miduk semi-autogenous (SAG) Mill via an utilized method. Miduk copper concentrator is located in Kerman Province, Iran, and its size reduction stage includes one gyratory crusher which feeds one SAG mill (9.75 dia.(m)*3.88 length(m)) following two parallel ball mills (5dia.(m)*7lenght(m)). After SAG mill, a tromm...

Background. A field study conducted by researchers found the balls used by visual impairment students at school basically used the sound by a small bell inside the ball. However, the sound emitted from the ball is very limited, the ball will sound when it is moved. This makes it difficult for students with visual impairments to find a missing ball that not emitted makes a sound. Objectives. A ...

The free surface flow of an Oldroyd-B viscoelastic fluid is considered, following [1]. When removing a term in the extra-stress constitutive relation, the description of an elastic incompressible solid is obtained, in Eulerian coordinates, with the velocity field as unknown, rather than the usual deformation field. Two simulations are proposed, a bouncing ball and an oscillating beam.