in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

in this paper, three-dimensional modeling of the fatigue crack growth profiles was performed in a simple riveted lap joint. simulation results showed that mode i was dominated on the one side of the plates and the crack straightly grew on this side, while the other side of the plates was in a mixed-mode condition and the crack propagation path was not straight on this side. afterward, the fract...

Flow-induced pinning and unpinning of vortices have been investigated experimentally in superfluid 4He at temperatures varying from 14 to 44mK. The lifetime and unpinning velocities of pinned vortices could be measured by following the apparent changes of the critical velocity for phase slips. The pinned vortex size and location can be deduced from the magnitude of these changes and are found, ...

This paper describes dark current characterization of two-stage charge transfer pixels, which enable a global shuttering and kTC noise canceling. The proposed pixel uses pinned diode structures for the photodiode(PD) as well as the storage diode(SD), thereby a very low dark current can be expected. The measured dark current of the PD and SD with the negative gate bias results in 19.5 e-/s and 7...

We report the fabrication of ordered arrays of oriented and bent carbon nanotube on a patterned silicon surface with a micron scale spacing extending over millimeter size surface areas. We suggest that the patterning is controlled by the hydrodynamic behavior of a fluid front and orientation and bending mechanisms are facilitated by the pinned carbon nanotubes trapped by the liquid-solid-vapor ...

Inaccuracies in the modeling assumptions about the distributional characteristics of the monitored signatures have been shown to cause frequent false positives in vehicle monitoring systems for high-risk aerospace applications. To enable the development of robust fault detection methods, this work explores the deterministic as well as variational characteristics of failure signatures. Specifica...

fracture mapping of late permian-early triassic flat-lying sedimentary rocks in the sydney basin,new south wales, australia, shows that joints developed originally in extension were faulted in subsequentevents. joints with a regional distribution fall into two (early and late) formed groups. group i joints propagatedhorizontally and never interfered with each other. these joints were subsequent...

The spectral density of quantum mechanical Frenkel Kontorova chains moving in disordered, external potentials is investigated by means of path-integral molecular dynamics. If the second moment of the embedding potential is well defined (roughness exponent ), there is one regime in which the chain is pinned (large masses of chain particles) and one in which it is unpinned (small ). If the embedd...

Com puting theresponseofa disordered elasticsystem to an externaldriving force isa long standing problem . Thisisoftheoreticalim portance and also relevantfora host ofexperim entalsystem s,both classicaland quantum .Forclassicalsystem s,typicalexperim entalrealizations are dom ain walls [1,2]and vortex lattice in type IIsuperconductors[3,4]. Pinned quantum crystalsare charge or spin density wav...