The behavior of the passive walker [1] is governed by its dynamics, and therefore, walking velocity cannot be controlled. On the other hand, a hip joint of a human is driven by an antagonistic pair of muscles, and its passivity seems to contribute to his/her behavior. In this paper, we propose to control walking velocity of a pneumatic actuated biped by changing hip passivity. We can control hi...

The balise is an important component in train operation control system fulfilling the task of Ground-Train Point-Mode data transmission. This paper presents a finite element based method for researching the electromagnetic interaction process of balise up-link data transmission with respect to the basic theoretical level. Based on the basic structure and working principle of balise information ...

Abstract Based on the structural principle of existing two-position anti-skid valve for urban rail vehicles, has been modified to increase pressure maintaining position based original only brake and release position, so as upgrade three-position valve. As pressure-maintaining is added, maximum braking force shall be kept far possible under premise control train, shorten distance ensure driving ...

In this paper OmniKity-III (OK-III), a novel wheeled omni-directional mobile robot is developed and its kinematic model and control laws are derived. A special gear train was developed to have omnidirectional mechanism using conventional tire wheels. Several control laws are provided by considering the robot as a redundantly actuated wheeled mobile robot (WMR) on the plane. Since the robot has ...

This paper presents a hybrid prognostics approach for Micro Electro Mechanical Systems (MEMS). This approach relies on two phases: an offline phase for the MEMS and its degradation modeling, and an online phase where the obtained degradation model is used with the available data for prognostics. In the online phase, the particle filter algorithm is used to perform online parameters estimation o...

Compressing high-power laser beams in plasmas via generation of a coherent cascade of electromagnetic sidebands is described. The technique requires two copropagating beams detuned by a near-resonant frequency Omega approximately < omega(p). The ponderomotive force of the laser beat wave drives an electron plasma wave which modifies the refractive index of plasma so as to produce a periodic pha...

In this paper, closed loop nonlinear control of a shape memory alloy (SMA) actuated flexible needle is presented. Merits of different modalities of sensory feedbacks are studied. In order to track the given desired trajectory, the actual position of the needle tip is controlled using three different feedback signals (i) Vision, (ii) Electromagnetic (EM), and (iii) Ultrasound (US) imaging feedba...

A modular mobile self‐reconfigurable microrobot is developed to enlarge the whole surveillance range of mobile microrobot. The microrobot is designed as differential driven vehicle equipped with a passive universal connector with autonomic engagement/disengagement function, and actuated by MEMS‐based electromagnetic micromotors. To realize that the microrobot is autonomous, its electr...

In this paper, a three-way microvalve system composed of three independent one-way valve units is presented. Each valve unit has a membrane, which is actuated by external negative air pressure. Intervals between the valve units are smaller than 780 μm, which opens up the possibility of realizing a high-density microvalve array. The small intervals were realized by providing the system with a la...