This paper investigates the control problem for soft continuum manipulators that operate on a plane and are subject to unknown disturbances. In general, have more degrees-of-freedom than inputs characterised by nonlinear dynamics. Thus, achieving high position accuracy with these systems in presence of disturbances is challenging task. this we present design new partial-state feedback controlle...

the geopolitically important basin of the mazandaran sea found its new identity after the collapse of the soviet :union: as an active region with specific functions. the power vacuum arising from the collapse of the soviet :union: and presence of huge energy resources attracted the attention of trans-regional powers and flow of big investment companies to the region. regional developments are a...

A new Eigenstructure Assignment (ESA) method for vibration confinement of flexible structures has been developed. This method is based on finding an output feedback control gain matrix in such a way that the closed-loop eigenvectors are orthogonal to the open-loop ones. Singular Value Decomposition (SVD) is used for finding the matrix that spans the null space of the closed-loop eigenvectors. I...

In selecting the boundary of a signal constellation used for data transmission, the objective is to minimize the average energy of the set for a given number of points from a given packing. Reduction in the average energy because of using the region C as the boundary instead of a hypercube is called the shape gain of C. The price to be paid for shaping is: (i) an increase in the factor CER, (Co...

Energy shaping is a remarkably effective control strategy which can be applied to wide range of systems, including underactuated mechanical systems. However, research in this area has generally neglected actuator dynamics. While often appropriate, it might result degraded performance the case fluidic actuation. In work we present some new results on energy for systems action mediated by pressur...

establishing satisfactory estimation methods of lake evaporation has been crucial vital for research and management of water resources and ecosystems. determining the accurate method to estimate evaporation from reservoirs in the investigation and management of water resources is very important. hence, in this study eight empirical methods such as; makkink, debruin-kejiman, penman, priestley-ta...

In this paper we present a coordinating control law for a network of mechanical systems with unstable dynamics. The control law is derived using the Method of Controlled Lagrangians together with potential shaping designed to couple the mechanical systems. The coupled system is Lagrangian with symmetry, and energy methods are used to prove stability and coordinated behavior. The class of mechan...