Because of the cost and complexity associated with sensory feedback, open-loop control of ionic polymer–metal composite (IPMC) actuators is of interest in many biomedical and robotic applications. However, the performance of an open-loop controller is sensitive to the change in IPMC dynamics, which is influenced heavily by ambient environmental conditions including the temperature. In this pape...

This paper discusses the actuator-level control of Valkyrie, a new humanoid robot designed by NASA’s Johnson Space Center in collaboration with several external partners. We focus on several topics pertaining to Valkyrie’s series elastic actuators including control architecture, controller design, and implementation in hardware. A decentralized approach is taken in controlling Valkyrie’s many s...

Controlling articulated mobile robots is associated with the manipulation of very complex dynamics, leading to a straightforward lack in the kind of motions these robots can complete, i.e. confined to those computed off-line from the very approximated models of its bodies’ physics. Trajectory generation based on safety mathematical conditions, e.g. avoiding singularities or non-equilibrium stat...

This paper discusses the hierarchical control architecture used to generate the behavior of individual agents and a team of robots for the RoboCup Small Size competition. Our reactive approach is based on control layers organized in a temporal hierarchy. Fast and simple behaviors reside on the bottom of the hierarchy, while an increasing number of slower and more complex behaviors are implement...

We address the problem of state estimation, attack isolation, and control discrete-time linear time-invariant systems under (potentially unbounded) actuator sensor false data injection attacks. Using a bank unknown input observers, each observer leading to an exponentially stable estimation error (in attack-free case), we propose observer-based estimator that provides exponential estimates syst...

Conjugated polymer actuators can be employed to achieve micro and nano scale precision, and have a wide range of applications including biomimetic robots, and biomedical devices. In comparison to robotic joints, they do not have friction or backlash, but on the other hand, they have complicated electro-chemomechanical dynamics which makes modelling and control of the actuator really difficult. ...

The present paper, introduces Adaptive Neuro Fuzzy Inference System (ANFIS) as one of the most mature and intelligent methods to predicte internal temperature relative humidity a greenhouse system. To conduct application proposed strategy, an experimenntal equipied with several sensors actuators is engaged. In this sense data base was collected during period day time where dynamics were observe...

Cloud computing platforms are being increasingly used for closing feedback control loops, especially when computationally expensive algorithms, such as model-predictive control, to optimize performance. Outsourcing of algorithms entails an exchange data between the system and cloud and, naturally, raises concerns about privacy system's (e.g., state trajectory objective). Moreover, any attempt a...

Title of Dissertation: Control of Smart Actuators Xiaobo Tan, Doctor of Philosophy, 2002 Dissertation directed by: Professor John S. Baras Professor P. S. Krishnaprasad Department of Electrical and Computer Engineering Hysteresis in smart materials hinders wider applicability of such materials in actuators and sensors. In this dissertation we study modeling, identification and control of hyster...