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Haptics technology deals with sense of touch and kinesthetic learning through actuators. Haptics classified into human Haptics, machine Haptics, and virtual augmented reality. This review paper focuses on explaining Haptics through texture modeling of various surfaces through measuring tool classification. Equations, errors and future applications of Haptics through texture identification.
Active contours or snakes are widely used for segmentation and tracking. Multiple object tracking remains a difficult task, characterised by a trade off between increasing the capturing range of edges of the object of interest, and decreasing the capturing range of other edges. We propose a new external force field which is calculated for every object independently. This new force field uses prior...
A nonlinear feedback system is designed and analyzed for a surface micromachined resonant accelerometer. For this, a brief illustration of the plant dynamics is given. In the analysis, the periodic signal in the nonlinear feedback loop is obtained by the limit cycle point, which is best approximated via the describing function method. This approach is reasonable in that the describing function method...
Parametric roll resonance on a ship is a condition where large roll motion develops rapidly in moderate head or following seas. The phenomenon is caused by bifurcation in the nonlinear equations of motion when a restoring moment is subject to periodic variation. This paper analyzes the stability of the nonlinear system and suggests active control of both ship speed and fin stabilizers to stabilise...
Active yaw stabilization for passenger vehicles, following driver yaw rate commands with steer-by-wire and rear break force distribution, is discussed. The problem is solved via a decomposition of the vehicle equations of motion into a static, scheduled tyre characteristics map, and an affine Linear Parameter Varying (LPV) plant. Control is provided via a cascade connection of scheduled inverse tyre...
In this paper we show how to spatially discretize a distributed port-Hamiltonian (pH) system, which describes the dynamics of an 1-D piezoelectric Euler-Bernoulli beam. Standard spatial discretization schemes for PDE systems have the disadvantage that they typically lead to a finite dimensional system which is not anymore in the pH form. So, there is a need for a spatial discretization scheme which...
In this paper, a new control strategy is developed to improve comfort and roadholding of a ground vehicle equipped with an industrial damper. This damper can be controlled by means of a small servomechanism which adjusts the damping rate. The main controller is a linear parameter varying (LPV ) static state-feedback controller synthesized in the ℋ∞/LPV framework to compute the required damping force...
This paper deals with latching control of the SEAREV ocean wave energy converter. It has been shown in previous studies that latching control could improve considerably the overall efficiency of the system, but assuming that the actuators idealy apply forces instantaneously. In reality, time constants are unavoidable in the response of the actuators and this can have an influence on the global benefit...
Due to the presence of strong non-linearities (i.e. coulomb friction) some systems change their dynamic dimension while functioning. Such systems can be found in many application fields, such as in automotive and robotics. This paper proposes a simulation model for this type of systems that we will call as "Variable Dynamic Dimension Systems" (VDDS). Particularly, a VDDS system composed...
The problem of stabilizing a contact configuration of a one-degree-of-freedom mechanical system subject to a single inequality constraint is considered. By means of Lyapunov techniques it is shown that a PD-like state feedback control law achieves exponential stability and BIBS stability of the desired equilibrium, for either elastic or inelastic impacts. Apart from the theoretical result, simulations...
Surgeons are using robots as a tool to increase surgery accuracy and decrease procedure times. One of the main problems in robotic assisted orthopedic surgery is the force control in manipulator robots. It always has been subject of great study and interest in the scientific community, where the most common approach is to consider it as a hybrid control problem, due to their complexity and non-linearities...
This paper dealing with the problem of modeling an Electro Power Steering System. In a previous paper in this proceedings (part I) we have introduce a new position model reference structure composed of two inter-connected models. Here we present the reference model control strategy used for this application. The resulting control structure has three major components: an inner force feedback loop with...
This paper applies the concept of the output frequency response function (OFRF) derived recently by the authors to analyse the effects of the nonlinear damping characteristic parameters in a MR damper on the output frequency response of a single degree of freedom (SDOF) vibrating system, where the MR damper is directly used to dissipate the vibration energy. The results gained from this work are of...
This paper presents a two independent wheel drives electric vehicle (EV), with a traction and a stability control systems. In the first part of the paper a detailed dynamic model of the EV is presented and also some simulation results. Using electric motors it is possible to have a precise torque control in each wheel drive, that enables the implementation of a sophisticated control system. In order...
Macro-Micro bilateral manipulation is a remote control with scaling factor of position/force between master (macro) and slave (micro) system. Normally, bilateral control based on acceleration control can realize not only high performance of force transmission because of the utilization of reaction force observer (RFOB), but also accurate tracking of position because of disturbance observer (DOB)....
Suppression of unnecessary vibration is an important aspect in control system design. Passive, semi active, and active suspension systems are used in vehicles to suppress vibrations and theoretically active suspension systems provide superior performance than the prior two types. This paper proposes a novel method to suppress vibrations using internal motor sensing method. The proposed active vibration...
There is a growing need for effective and adaptive robot-assisted rehabilitation platforms for post-stroke patients which can facilitate considerably their sensorimotor control performance, and also ensure safety for the patients.
Currently in robotics field, various new forms of robots are emerged that are different from existing robots. One of them is the mobile robot having a tensegrity structure. In this paper, the tensegrity is employed for a design of a mobile robot that can be used in irregular environment. But the tensegrity structure is highly nonlinear; so it is very difficult to control. In order to deal with this...
Robot gripper design is an active research area due to its wide spread applicability in automation. The present work deals with the actuator analysis of a non-linear, multi-modal and multi-objective optimization problem which is originally formulated by Osyczka [1]. The previous work [1] had treated the actuator as a blackbox. In the present work, the formulation has been changed by incorporating...
The Solenoid Powered Engine (SPE) is one of the feasible alternative prime movers to replace the existing electric motors. From the machine's design and operational perspective, this particular prime mover design holds a few advantages over the existing electric motor designs. However, SPE development is still in its infant stages and future studies and improvements are required to further refine...
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