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The flight of unmanned aerial vehicle (UAV) is vulnerable to various disturbances and faults. In this paper, the small damage of the wing of an unmanned aerial vehicle is taken into consideration. The UAV control framework consists of force loop and torque loop, where the nonlinear disturbance observer (NDO) based dynamic inverse (DI) control and the extended state observer (ESO) based dynamic inverse...
An efficient control of nano-positioning stage remains a challenging task due to the effect of noise and disturbances and nonlinear friction phenomenon which is difficult for both modeling and control. In order to solve this problem, a novel model-free control method is applied to nano-positioning stage to provide the robustness and ability of disturbance rejection. Besides, a feedforward model which...
Controlling microrobots in the past have required the used of heavy coil systems and large power supply units, in this paper we show that a strong permanent magnet is sufficient for the control scheme. The development of a controlling stage was deemed to be a priority and allowed for the manipulation of microrobots, otherwise known as alginate particles or artificial cells, in the xy-plane. We show...
Microrobots have an enormous potential in medical applications such as the minimal invasion to human body, drug delivery and drug imaging. Magnetic tweezers, as a very powerful tool in micro manipulation, has been investigated by many researchers. However, most of the previous researches mainly have utilized the magnetic tweezer on very small working space with two-dimensional control inputs. This...
In this paper, we designed and simulated a multilayer planar resonator with target frequency of 2.5 MHz which is created over a row/column-addressed 2D CMUT array. We have shown through finite element modeling and simulations that a particle can be trapped and manipulated both in lateral and axial directions inside the fluid channel by activating CMUT elements; And calculated acoustic radiation force...
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