Human–robot collaborative systems have the potential to dramatically change many aspects of surgery, manufacturing, hazardous-material handling, and other dextrous tasks. We are particularly interested in precise manipulation tasks, which are typically performed under an admittance-control regime, where the controlled velocity of a non-backdrivable robot is proportional to the sensed user-appli...

In this paper LQG controller for TRMS without and with sensor, actuator failure is designed. Implementation of LQG controller for TRMS is done under no failure of sensor, actuator. TRMS output with LQG controller and reliable H infinity controller are compared without and with sensor, actuator failure. The objective of the proposed technique is to prove the H infinity controller is reliable ove...

The performance of non-trivial tasks by a mobile robot has been a long term objective of robotic research. One of the major stumbling blocks to this goal is the conversion of the high-level planning goals and commands into the actuator and sensor processing controls. In order for a mobile robot to accomplish a non-trivial task, the task must be described in terms of primitive actions of the rob...

In control of vibrations, diffusion and many other problems governed by partial differential equations, there is freedom in the choice of actuator location. The actuator location should be chosen to optimize performance objectives. In this paper, we consider H∞ performance with state-feedback. It is shown that the corresponding optimal actuator problem is wellposed. In practice, approximations ...

The use of a high-fidelity finite element model is investigated for the design and closedloop performance prediction of shaped and distributed sensors and actuators for structural acoustic control. Sensor and actuator design was found to be sensitive to nodeline discrepancies between the model and experiment caused by moderate manufacturing defects and/or boundary condition uncertainties. Relyi...

the natural frequency and pull-in instability of clamped-clamped nano-actuators in the presence of a dielectric layer are analyzed. the influence of the presence of casimir force, electrostatic force, fringing field effect, axial force, stretching effects and the size effect are taken into account. the governing equation of the dynamic response of the actuator is transformed in a non-dimensiona...

Indirect control of qubits by a quantum actuator has been proposed as an appealing strategy to manipulate qubits that couple only weakly to external fields. While universal quantum control can be easily achieved when the actuator-qubit coupling is anisotropic, the efficiency of this approach is less clear. Here we analyze the time efficiency of quantum actuator control. We describe a strategy t...

A new membrane actuator based on our previous diaphragm actuator was designed and constructed to improve the dynamic performance. The finite element analysis was used to estimate the frequency response of the composite membrane which will be driven close to its resonance to obtain a large stroke. The membrane is made of ferromagnetic shape memory alloy (FSMA) composite including a ferromagnetic...

The traditional optical pickup actuator model based on the assumption that the actuator spatial magnetic field distributes uniformly ignores the crosstalk characteristic among the movements of different directions. Crosstalk characteristic is a key factor that affects the actuator dynamic property and, consequently, the accuracy of reading and writing operation in the future higher density opti...