This paper demonstrates simultaneous identification and control of the humanoid robot, Valkyrie, utilizing Spatial Vector Algebra (SVA). In particular, the inertia, Corioliscentrifugal and gravity terms for the dynamics of a robot are computed using spatial inertia tensors. With the assumption that the link lengths or the distance between the joint axes are accurately known, it will be shown th...

Repetitive peripheral magnetic stimulation (RPMS) is an innovative approach in treatment of central paresis, e.g. after stroke. In this article we present a neuromuscular model for the RPMS-induced isometric muscle contraction. This model is the basis for our two recent goals in research: improvement and assessment of the RPMS therapy by means of position controlled induction of functional move...

This paper investigates the controllability of a closed-loop tracking synchronization network based on multiple linear-switched reluctance machines (LSRMs). The LSRM network is constructed from a global closed-loop manner, and the closed loop only replies to the input and output information from the leader node. Then, each local LSRM node is modeled as a general second-order system, and the mod...

This paper presents an online system identification method with `1-norm regularization. Convergence analysis is performed for non-stationary environments. This work is a significant extension of the non-negative LMS in both aspects of algorithm derivation and convergence analysis. According to its performance and computational cost, the proposed algorithm performs similarly as the LMS algorithm...

National Aeronautics and Space Administration’s Asteroid Redirect Mission (ARM) aims to capture a Near Earth Orbit (NEO) asteroid or a piece of a large asteroid and transport it to the Earth–Moon system. In this paper, we provide a detailed analysis of one of the main control challenges for the first ARM mission concept, namely despinning and three-axis stabilizing the asteroid and spacecraft c...