They are not responsible for any errors.-2

This paper presents a novel robust fractional PIλ controller design for flexible joint electrically driven robots. Because of using voltage control strategy, the proposed approach is free of problems arising from torque control strategy in the design and implementation. In fact, the motor's current includes the effects of nonlinearities and coupling in the robot manipulator. Therefore, cancella...

Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

A linear, second-order filter driven by randomly polarized pulses is shown to generate a waveform that is chaotic under time reversal. That is, the filter output exhibits determinism and a positive Lyapunov exponent when viewed backward in time. The filter is demonstrated experimentally using a passive electronic circuit, and the resulting waveform exhibits a Lorenz-like butterfly structure. Th...

Although it is difficult to point to a definite origin of the field of nonlinear dynamics, it evolved in part from attempts to understand two fundamentally different types of deterministic systems—very simple systems with as few as three variables on the one side that generate erratic non-periodic dynamics, exemplified by the three-body problem; and nearly infinite dimensional systems, such as ...

This paper studies the dynamical response of a rotary drilling system with a drag bit, using a lumped parameter model that takes into consideration the axial and torsional vibration modes of the bit. These vibrations are coupled through a bit-rock interaction law. At the bit-rock interface, the cutting process introduces a state-dependent delay, while the frictional process is responsible for d...

Genius is defined as a person of outstanding mental skills. These skills result from genius’ brain structure and physiology that are determined by genetics. It seems that environment and education may only inhibit development of a genius. Based on a simple model of brain phase space we formulate two hypotheses about dynamics of mental processes in genius’ brain and the difference between genius...