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In this paper, a robust filter is designed using guaranteed cost method to deal with the problem on networked control system (NCS). NCSs are modeled by neutral-type systems with differentiable time-delay uncertainties. The control and gain filter are derived from LMI feasible solution. A numerical example is provided for illustration of the proposed condition.
In this paper we present a method for creating two-dimensional virtual creatures. Their shape and controlling systems are generated automatically by the use of a genetic algorithms. Unlike previous work, our system has an emphasis in approachability and simplicity, but sacrifices simulation realism. This trade off is done with the intention of using the framework for highly interactive applications...
The conceptual design of a novel compliant microelectromechanical systems (MEMS)-based gripper equipped with elecrothermal actuating as well as electrothermal force sensing is introduced in this paper. By this design combination, the device possesses some unique characteristics including a small and compact footprint size, and a large and steady force from the thermal actuator. Simulation results...
The following article presents our attempt to design and build a simple, low-cost, impedance controlled, multifinger gripper having two phalanges in each finger. The paper discusses two different approaches of creating its mechanical construction, comparing the strengths and weaknesses of both solutions, as well as electronic design and software architecture of the controller. The results of basic...
The aim of this paper is to describe the design of a soft, wearable glove for power assisted and rehabilitation, based on pneumatic soft actuators. The extensor bending type of pneumatic soft actuators was used in this study, which proved these actuators are appropriate by examining their characteristics. A proposed solution for a release movement is presented. Experimental results show this solution...
Device and machinery noise can be reduced by controlling vibration of casing walls — such approach, referred to as the active casing approach, has been successfully applied by the authors in previous publications. It was observed that for an effective active control it is crucial to mount sensors and actuators at appropriate locations on the vibrating structure. However, an optimization process of...
The vibrations while Milling often impact the results, sometimes generating very important cost because of the lack of quality for high value parts as well as cutting tool wear due to chatter phenomenon that happens during unstable vibrations. To mitigate this phenomenon, many techniques exist like passive and semi-active methods but the active control in milling, which is not as widespread in turning...
Microelectromechanical systems (MEMS) resonators have been intensively investigated as an alternative for electronic filter components currently used in communication systems because of their small size and low operating voltages [1]. Electrothermal actuation, compared to other transduction techniques for electrical induction of mechanical vibrations, brings benefits in terms of simple fabrication,...
In this work, we present the design and fabrication of high-frequency SiC nanoresonators for highly sensitive nanoparticle sensing. A 280-nm single crystalline SiC film was grown on a Si wafer, and released from the substrate using an isotropic dry etching process. The SiC nanoresonators were then formed using the Focused Ion Beam technique. The simulation results show that the as-fabricated resonators...
Model-in-the-Loop (MiL) testing is a method in which the test object is split into a physical part and a simulated part, and these are connected with interfaces to form a combined physical-numerical system. The challenge of generating a MiL test is that, firstly, because of the limited dynamic response of the actuators, the test results may be inaccurate, and secondly, because of the high frequency...
This paper describes tip-over prevention control of a teleoperated excavator based on zero moment point (ZMP) prediction. This method predicts a future ZMP when an operation input is given. This allows the determination of the risk of tip-over by the operation input before an excavator moves. When the risk is detected, the operation input to the actuator is modified to keep the excavator from falling...
In this paper we present a method to detect Man-in-the-Middle attacks on industrial control systems. The approach uses anomaly detection by developing a model of normal behaviour of the industrial control system network. To come as close as possible to reality a simple industrial system, a conveyor belt with sensors and actuators, was set up with controllers widely used in industry. A machine learning...
This paper presents an approach to fault detection, identification, and state estimation (FDISE) for a dynamic system with abrupt total or partial failures. FDISE includes both decision and estimation and they are highly coupled. Decision includes fault detection and identification (FDI), while estimation is for failure magnitude and system state. Correct FDI benefits estimation and accurate estimation...
A 4-node quadrilateral piezoelectric element with thin piezoelectric layers embedded on top and bottom surfaces is derived based on the first-order shear deformation theory, and the dynamic equation of a composite beam with distributed sensors and actuators is established by Hamilton's principle. Considering the influence of plant noise and measurement noise, linear quadratic Gauss (LQG) control algorithm...
This paper presents a method to check for feature interactions in a system assembled from independently developed concurrent processes as found in many reactive systems. The method combines and refines existing definitions and adds a set of activities. The activities describe how to populate the definitions with models to ensure that all interactions are captured. The method is illustrated on a home...
The rehabilitation devices help the elderly who was injured temporally to recover their physical ability for keeping Quality of Life (QOL). This study aims at developing a potable rehabilitation device which can be safe to use while holding it with human hands. In the previous study, the novel flexible pneumatic cylinder that can be used even if it is deformed has been developed. The flexible spherical...
Described in this paper is a mechatronic system whose functionality relies on the combination of fast, adaptive digital control and a carefully designed electromechanical system. Near-field acoustic levitation exploits elevated pressure due to the nonlinear pressure-volume characteristics of air. By controlling the actuator's vibration pattern of standing and traveling waves, a levitated object can...
The goal is to create a balance between human and machine, to augment humans in their physical tasks, to support humans for their rehabilitation, to enhance the performance of a human surgeon, to reduce the burden on the operator of intelligent systems (robotics) in commanding these systems, and to provide for human security both in the battlefield and in the homeland. The overall intent is to enhance...
Security and privacy are very important assets within building and home automation because the System Control Unit (SCU) stores and processes a huge amount of data about the inhabitants or employees of the building. This data is necessary for managing the building and increasing the convenience of persons within. But this data can also be used to create a movement profile, monitor working times, and...
A smart environment system should automatically control the devices according to the sensing information and users' requirements so as to keep the environmental elements (e.g., temperature, light) within the desired range. System control with minimum power is one key issue in such a system. In this paper, we propose a multi-dimension model for system control. In this model, each environmental element...
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