INTRODUCTION This paper focuses on the development of optimal deterministic, nonlinearly coupled barge motion models, identification of their system parameters and calibration of their prediction capability using experimental results. The ultimate objective is to develop accurate yet sufficiently low degree-offreedom stochastic models suitable for efficient probabilistic stability and reliabili...

This paper presents a methodology f o r the evaluation of the performance of a given Haptic Display. The procedure can be carried out through the own proper sensors/actuarors which equip the haptic display and allows to characterize the device from a siatic/dynamicpoint of view.

Abstract: In this paper we present the application of the adaptive neural-networktechnique in (Calise, Hovakimyan and Idam, 2001) to the control of the 3DoF model helicopter in (Avila, Brogliato, Dzul and Lozano, 2003). The technique uses feedback linearization, linear (coarse) compensation and adaptive-neural-network (fine) compensation. The description of the technique is presented in a way a...

The works presented in this article are motivated by the high performances required in micromanipulation/microassembly tasks. For that, this paper presents the developement, the modelling and the control of a 2 degrees of freedom (in linear and angular motion) micropositioning device. Based on the stick-slip motion principle, the device is characterized by unlimited strokes and submicrometric r...

It has been proved by S.L.Ziglin [1], for a large class of 2-degree-of-freedom (d.o.f) Hamiltonian systems, that transverse intersections of the invariant manifolds of saddle fixed points imply infinite branching of solutions in the complex time plane and the non–existence of a second analytic integral of the motion. Here, we review in detail our recent results, following a similar approach to ...