Combination of Adoptive Network based Fuzzy Inference System (ANFIS) and subtractive clustering (SC) has been used for estimation of deformation modulus (Em) and rock mass strength (UCSm) considering depth of measurement. To do this, learning of the ANFIS based subtractive clustering (ANFISBSC) was performed firstly on 125 measurements of 9 variables such as rock mass strength (UCSm), deformati...

In the paper, a fuzzy variable structure control with a harmonizing mechanism has been developed and applied to the positioning control of an electro-hydraulic servo system. The simulation experiment results show that the performance by using the controller is better than those by just only using either fuzzy controller or variable structure controller. In addition, it also demonstrates that it...

A novel Shape Memory Alloy (SMA) actuator consisting of several thin NiTi bers woven in a counter rotating helical pattern around supporting disks is rst described. This structure accomplishes a highly eecient transformation between force and displacement overcoming the main mechanical drawback of shape memory alloys, that being limited strain. Time domain open loop experiments were then conduc...

This paper presents a Variable Structure Adaptive Backstepping Controller (VS-ABC) for plants with relative degree one, using only input/output measurements. Instead of traditional integral adaptive laws for estimating the plant parameters, switching laws are used to increase robustness to parametric uncertainties and disturbances, as well as, to improve transient response. Moreover, the contro...

This paper introduces a conceptual framework for modeling and simulation of variable structure hybrid systems. The framework proposed is based on and further extends the DEVS-formalism, providing a novel definition for modularhierarchical systems with discrete structural changes. An interactive, graphical model development approach and Object Oriented implementation are also presented. Finally,...

abstract: a continuously variable transmission (cvt) is a transmission which may change step less by way of an infinite variety of effective gear ratios between maximum and minimum values. this contrasts with different mechanical transmissions that solely permit just a few different distinct gear ratios to be selected. continuously variable transmissions (cvts) are mechanical devices that allow...

In this paper we show how to embed the variable internal structure present in square implicit descriptions inside an (A, E, B) invariant subspace contained in the kernel of the output map. Thanks to this embedding, we make unobservable the variable internal structure, obtaining in this way a proper closed loop system with a controllable pre speciÞed structure. Copyright c ° 2002 IFAC.

Recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. This paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called Dual-Arm Cam-Lock Manipulator. The Manipulator i...