In this paper, the backstepping design scheme is developed for the tip-position trajectory tracking control of single-link flexible robotic manipulator systems. An infinite dimensional dynamic model of a single-link flexible manipulator is derived through the assumed modes method associated with Lagrange approach. For simplicity, a linearized system model would be analyzed and investigated for ...

In this paper we demonstrate that simple yet flexible modelling of multilook polarimetric synthetic aperture radar (PolSAR) data can be obtained through a relaxation of the Wishart model. The degrees of freedom of the complex Wishart distribution is treated as a spatially nonstationary parameter, which is allowed to vary between thematic classes and segments of the PolSAR scene.

In this paper, we propose an energy-based nonlinear control for two-link flexible manipulators. Since the two-link flexible manipulator is an underactuated system which provides a challenge to control engineers and researchers. In order to control this kind of system more effectively, many new control theories and methods are explored to design controllers for the flexible manipulators. Among t...

A novel approach to the control of a single joint-single flexible link robot is proposed and experimentally evaluated. The control is completely signal based, and relies on joint trajectory pre-planning plus collocated vibration control of the flexible link through piezoelectric actuation. Trajectory pre-planning is a well known strategy for avoiding link vibrations during maneuvers, however it...

Wayne J. Book George W. Woodruff SchOOl of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332 A manipulator system with a large workspace volume and high payload capa~ity has greater link flexibility than do typical industrial robots and teleoperators. N Imk flexibility is significant, position control of the manipulator's end-effector exhibits nonminimum-phase. noncollo...

[1] Several aspects of spectral broadening and drizzle growth in shallow liquid clouds remain not well understood. Detailed, cloud‐scale observations of microphysics and dynamics are essential to guide and evaluate corresponding modeling efforts. Profiling, millimeter‐wavelength (cloud) radars can provide such observations. In particular, the first three moments of the recorded cloud radar Dopp...

Current knowledge systems lack an effective architecture to bridge the well-acknowledged gap between flexibility and rigidity users’ preference of flexible expression and machine’s need for rigorous representation. This paper focuses on finding an adequate set of relationship types (or link types) and map flexible expressions from users to link types in propositional knowledge systems, in which...

Fiber-optic links are attractive for transmitting microwave/millimeter wave signals for applications such as radar, imaging and astronomy. However, current fiber-optic links that employs intensity modulation and direct detection suffer from limited spurious free dynamic range (SFDR). For solution, a new coherent fiber-optic link using linear phase modulation/demodulation has been proposed. The ...

The operational WSR-88D Doppler radar network of the United States (Crum and Alberty 1993) has dramatically improved the ability of severe weather warning in routine operations (Serafin and Wilson 2000); it is also playing an important role in storm-scale data assimilation and model initialization, because it is the only observational network that can resolve convective storms. However, the ana...

1 The phased-array radar (PAR) of the National Weather Radar Testbed (NWRT) in Norman, Oklahoma represents a paradigm shift for weather radar observations. The PAR with abilities such as a higher data update rate through beam multiplexing (Yu et al. 2007) offers not only an opportunity but also a challenge for meteorologists to exploit its potentials for helping us improve convective storm anal...