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Most smart material based actuators (smart actuators) are known for their prominent characteristics of a high resolution of positioning, high bandwidth, and the ease of integration in miniaturized systems. However, their applications are restricted by the inherent hysteresis nonlinearity. This paper presents a new nonlinear discrete control design to improve hysteresis compensation in the smart actuators...
Most smart material based actuators (smart actuators) are known for their prominent characteristics of high resolution of positioning, high bandwidth, and the ease of integration in miniaturized systems. However, their applications are restricted by the inherent hysteresis nonlinearity. This paper presents a new modified Bouc-Wen (MBW) model which has a rate-dependent property. Then the proposed model...
Hard nonlinearity or hysteresis effect is the main obstacle in most smart material based actuators which makes their optimal usage impossible. Thus, it is essential to develop a comprehensive strategy for modeling and control in order to mitigate this hysteresis nonlinearity. This paper investigates the viability of the differential equations based models towards hysteresis characterization and control...
This paper presents initial study of new control PID-Active Force Control (PIDAFC) in controlling twin rotor multi-input multi-output System (TRMS). The objective is to control the TRMS response in order to obey the desired output and rejecting external disturbances. To control the TRMS was challenging since the rotor interact badly at the beam between yaw and pitch. For this reason, it considers...
The behaviour of skin is still not well understood and characterising skin properties is always challenging due to its complex biological structure. Nevertheless, this paper highlights the success of determining skin material parameters using Ogden's model and finite element (FE) simulation. The approach involved integrating experiment, FE modelling and inverse-FE analysis. Data from in vivo experiments...
This paper presents a study on control architecture improvement of a MM3A microrobotic system (MM3A) in terms of high precision capability using a hybrid control strategy viz. PD control scheme integrated with intelligent Active Force Control (AFC) and Fuzzy Logic (FL). The dynamic model of the MM3A is derived using Recursive Newton-Euler method. The simulation was carried out using MATLAB, Simulink...
Distracted driving has emerged as a factor of road accidents. Hence, the detection increase of drivers' cognitive workload has been a vital issue for establishing safety support systems. Studies on the estimation of driver's mental workload have been performed using various devices. However, an applicable and a sensitive device is still vague. One of the promising devices available is using blood...
Dynamic Ankle Foot Orthosis (DAFO) is a revolutionary of the Ankle Foot Orthosis, which is an equipment used to control the motion and position of ankles. It is designed to correct deformities for patients who require treatment of disorders related to muscles and nerves functional failure. Unfortunately, the current designs of DAFO are limited only for patients who can move ankles by their own. This...
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