This work studies a stabilization problem of flapping-wing flying robots (FWFRs) before take-off phase while robot is on branch. The claw the FWFR grasps branch with enough friction to hold system steady in stationary condition. Before take-off, opens itself and between vanishes. At that moment, mechanical model turns into an under-actuated multi-link (serial configuration) robotic where first ...

Homogenous Charge Compression Ignition (HCCI) engines hold promise of high fuel efficiency and low emission levels for future green vehicles. But in contrast to gasoline and diesel engines, HCCI engines suffer from lack of having direct means to initiate combustion. A combustion timing controller with robust tracking performance is the key requirement to leverage HCCI application in production ...

We demonstrate mass-producible, tetherless microgrippers that can be remotely triggered by temperature and chemicals under biologically relevant conditions. The microgrippers use a self-contained actuation response, obviating the need for external tethers in operation. The grippers can be actuated en masse, even while spatially separated. We used the microgrippers to perform diverse functions, ...

A new design method internal model control is proposed for multivariable over-actuated processes that are often encountered in complicated industrial processes. Due to the matrix that is adopted to describe over-actuated system is not square, many classical multivariable control methods can be hardly applied in such system. In this paper, based on method of virtual outputs, a new internal model...

The advancement of microminiaturization and technologies has motivated the search for a technique that will permit precision manipulation on the scale of micrometers. This paper presents the development of a three-degrees-of-freedom (DOF) micromotion in-parallel actuated manipulator. The micromotion manipulator, which has one translation and two orientation freedoms, is actuated by piezoelectri...

In this paper a new example of a hopping robot is considered, consisting simply of two links (the end of one link acts as the foot) joined by an actuated, revolute joint. For the stance phase a nonlinear controller is derived that maintains the balance o f t h e robot and periodically accelerates the center of mass vertically. For large enough oscillations the robot can slide or take off. If fl...

We consider in this paper the design and implementation of a dual-stage actuated hard disk drive (HDD) servo system, in which an additional piezoelectric actuator is mounted on top of the conventional voice-coil-motor (VCM) actuator to provide a faster and finer response. More specifically, the dual-stage actuated HDD servo system consists of a primary VCM actuator and a secondary suspension pi...

The main contribution of this paper is the development of a linearized model for describing the dynamic hysteresis behaviors of piezoelectrically actuated fast tool servo (FTS). A linearized hysteresis force model is proposed and mathematically described by a fractional order differential equation. Combining the dynamic modeling of the FTS mechanism, a linearized fractional order dynamic hyster...