This study focuses on the identification of aerodynamic coefficients through airdrop data based a known six-degree-of-freedom (6-DOF) model. Since precise modelling parafoil system is prerequisite for design guidance, navigation and control systems, accurate calculation vital. paper first presents rigid 6-DOF nonlinear model simplifies it by linearizing equations around equilibrium point, which...

Multi-DOF motion is realized in the eyes and joints of robots mostly through combination multiple one-degree-of-freedom (1-DOF) motors. However, this results reduced efficiency, a large volume, response speed, inaccurate positioning. To solve these problems, study proposes novel 3-DOF spherical voice coil motor (VCM). In VCM, 16 coils radially oriented ring magnet are used to generate Lorentz f...

An adaptive gain, smooth sliding observer-controller is developed to control n -degree of freedom rigid robotic manipulators with uncertain parameters. Furthermore, an on-line closed loop identification scheme, for time-varying parameters is proposed in order to obtain useful information despite loads, external disturbances and faults detection. In order to reduce the chattering, a smooth switc...

Abstract The performance of an optical system with sensitive line-of-sight (LOS) is influenced by rotational vibration. In view this, a design methodology proposed for passive vibration isolation in LOS. Rotational attributed to two sources: transmitted from the mounting base and generated modal coupling. Therefore, elimination caused coupling becomes important part system. Additionally, decoup...

This paper presents a formulation for the inclusion of the second degree of freedom for MIMO system for decoupling purposes. The proposal is specially effective when combined with decentralized feedback controllers. Loop interaction is of the major problems in the control of MIMO systems, as interaction can be considered as a disturbance coming from all other loops, the design of the decentrali...

Design and Control of a 6-Degree-of-Freedom Levitated Positioner with High Precision. (May 2005) Tiejun Hu, B.S., Tsinghua University, China; M.S., Tsinghua University, China Chair of Advisory Committee: Dr. Won-jong Kim This dissertation presents a high-precision positioner with a novel superimposed concentrated-field permanent-magnet matrix. This extended-range multi-axis positioner can gener...

An accurate dynamic model is a prerequisite for realizing precise control of industrial robots. The dynamics research multi-degree freedom (DOF) robots relatively unexplored and needs to be solved urgently. In this paper, modeling method multibody system 6-DOF robot proposed based on the screw theory. established has more concise unified mathematical form, modular matrix expression convenient r...

The occurrence of catastrophic earthquakes necessitates further researches in the structure engineering for retrofitting construction structures. In this paper, the application of the active control in the structures’ seismic response has been addressed. A single degree of freedom nonlinear structure has been studied. The nonlinear dynamic of the structure is considered in which, the nonlinear ...

Based on the square heat-generation body (HGB) with “arrow-shaped” high-thermal-conductivity channel (HTCC) model established in previous literature, we performed multi-objective optimization (MOO) maximum temperature difference (MTD) minimization and entropy-generation rate (EGR) as objectives for its performance. Pareto frontiers optimal set were obtained based NSGA-II. TOPSIS, LINMAP, Shanno...