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Micropumps have gained a great potential to be applied as biomedical devices and micro systems. Because of low driven voltage, flexible operation, and self sensing ability, the ionic polymer metal composite (IPMC) material has been used as diaphragm of micropumps. This paper presents a novel design technique of IPMC diaphragm with numerical results about deformation capabilities and makes the design...
In this paper, a nonlinear control system using a fuzzy self tuning Grey predictor based on a PID controller is proposed. Firstly, the PID controller is designed according to the Zieger-Nichos 2 method with fast response and high robustness. Secondly, the grey predictor is suggested to use to estimate the system response in a near future in order to improve the control performance. In addition, the...
An ion polymer metal composite (IPMC) is an Electro-Active Polymer (EAP) that bends in response to a small applied electrical field as a result of mobility of cations in the polymer network and vice versa. Recently, IPMC is widely applied in many fields such as biometric, biomedical and micro manipulator fields. This paper proposes a robust position controller for IPMCs which is based on the quantitative...
In this paper, a novel inverse double NARX fuzzy model is used for modeling and identifying simultaneously both of joints of the prototype 2-axes PAM robot armpsilas inverse dynamic model. The highly nonlinear coupling features of both of links of the 2-axes PAM robot arm is modeled thoroughly through an inverse double NARX fuzzy Model-based identification process using experiment input-output training...
In this paper, a novel inverse dynamic MIMO NARX model is used for modeling and identifying simultaneously both of joints of the prototype 2-axes PAM robot armpsilas inverse dynamic model. The contact force variations and highly nonlinear coupling features of both links of the 2-axes PAM robot arm are modeled thoroughly through an inverse neural MIMO NARX model-based identification process using experiment...
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