Signalling in space and time: systems dynamics of intracellular communication.

Definition of General Operator Space and The s-gap Metric for Measuring Robust Stability of Control Systems with Nonlinear Dynamics

In the recent decades, metrics have been introduced as mathematical tools to determine the robust stability of the closed loop control systems. However, the metrics drawback is their limited applications in the closed loop control systems with nonlinear dynamics. As a solution in the literature, applying the metric theories to the linearized models is suggested. In this paper, we show that usin...

Manipulation Control of a Flexible Space Free Flying Robot Using Fuzzy Tuning Approach

Cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. During such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. Therefore, to design and dev...

Commuting within the cell-mind the GAPs. Workshop on Systems Dynamics of Intracellular Communication: overcoming Distance in Signalling Networks.

Dynamics of Space Free-Flying Robots with Flexible Appendages

A Space Free-Flying Robot (SFFR) includes an actuated base equipped with one or more manipulators to perform on-orbit missions. Distinct from fixed-based manipulators, the spacecraft (base) of a SFFR responds to dynamic reaction forces due to manipulator motions. In order to control such a system, it is essential to consider the dynamic coupling between the manipulators and the base. Explicit d...

Dynamics and Motion Control of Wheeled Robotic Systems

Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...