In high dynamic situations, the GPS carrier tracking loop requires a wide bandwidth to track a carrier signal because the Doppler frequency changes more rapidly with time. However, a wide bandwidth allows noises within the bandwidth of the tracking loop to pass through the loop filter. As these noises are used in the numerical controlled oscillator (NCO), the carrier tracking loop of a GPS rece...

This paper discusses the design and properties of two trajectory tracking controllers for linear time-invariant systems, and compares their implementation and experimental results on a flexible one-link robot equipped with a velocity-controlled actuator. High positioning accuracy and low tracking errors within a specified bandwidth are their performance specifications. Both controllers use the ...

Nonminimum Phase Discrete Time Models Yuping Gu and Masayoshi Tomizuka Department of Mechanical Engineering University of California at Berkeley, Berkeley, CA 94720-1740 [email protected] [email protected] Abstract This paper is concerned with performance enhancement of tracking control systems by multi-rate control. The feedback controller is updated at the same rate as the sampling r...

The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...

Automated visual-tracking of cell populations in vitro using time-lapse phase contrast microscopy enables quantitative, systematic, and high-throughput measurements of cell behaviors. These measurements include the spatiotemporal quantification of cell migration, mitosis, apoptosis, and the reconstruction of cell lineages. The combination of low signal-to-noise ratio of phase contrast microscop...

This paper studies repetitive control (RC) with linear phase lead compensation to precisely track periodic trajectories in piezo-based scanning probe microscopes (SPMs). Quite often, the lateral scanning motion in SPMs during imaging or nanofabrication is periodic. Dynamic and hysteresis effects in the piezoactuator cause significant tracking error. To minimize the tracking error, commercial SP...

To establish a protocol for a multi-phase computed tomography (CT) of the canine pancreas using the bolus-tracking technique, dynamic scan and multi-phase CT were performed in six normal beagle dogs. The dynamic scan was performed for 60 sec at 1-sec intervals after the injection (4 ml/sec) of a contrast medium, and intervals from aortic enhancement appearance to aortic, pancreatic parenchymal ...

In order to track the carrier phases of Global Navigation Satellite Systems (GNSS) signals in signal degraded environments, a dual antenna joint carrier tracking loop is proposed and evaluated. This proposed tracking loop processes inputs from two antennas, namely the master antenna and the slave antenna. The master antenna captures signals in open-sky environments, while the slave antenna capt...

Learning control is a very effective approach for tracking control in processes occurring repetitively over a fixed interval of time. In this paper a robust learning algorithm is proposed for a generic family of nonlinear, nonminimum phase plants with disturbances and initialization error. The ‘‘stable-inversion’’ method of Devasia, Chen and Paden is applied to develop a learning controller for...