In this note we are concerned with controller design for robot manipulators equipped with brushed DC-motors in the case when the electric dynamics of these actuators is not neglected. We present, for the first time, stability proofs which show that PD control with desired gravity compensation and the classical PID controller presented previously in the literature under the assumption that no ac...

INTELLIGENT defect detection has become one of the most challenging scientific industrial course in recent years. models were developed to determine surface-breaking defects along the applied field when using the magnetic flux leakage (MFL) non-destructive technique. The theoretical model fits the experimental MFL results from simulated defects. For MFL sensors, the normal magnetic leakage fiel...

Theorem 1. The Todd genus of a manifold equipped with a symplectic circle action with isolated fixed points is either equal to zero and then the action is non-Hamiltonian, or equal to one and then the action is Hamiltonian. Any symplectic circle action on a manifold with the positive Todd genus is Hamiltonian. Proof. A symplectic circle action is Hamiltonian if and only if there is such a conne...

Urban environment has undergone many transformations in order to function effectively as society changes. Since the Industrial Revolution, cities have provided extensive industrial areas, high-capacity transport, and a huge quantity of housing and offices. However, the development and expansion of urban areas since 18th century have brought about serious environmental problems as well as effici...

Solar pond is a device which entraps the impinging solar radiation and stores it as thermal energy in its salty layers. Simple salt gradient solar pond consists of three basic layers: lower convective zone, non-convective zone and last is upper convective zone. In present study a simple working experimental setup of salt gradient solar pond was fabricated equipped with thermo siphon heat exchan...

This paper deals with the trajectory tracking control for quadrotor aerial vehicles equipped with a robotic manipulator. The proposed approach is based on a two-layer controller: in the top layer, an inverse kinematics algorithm computes the motion references for the actuated variables while in the bottom layer, an adaptive motion control algorithm is in charge of tracking the motion references...

Large accidents and disasters in crowded regions such as business districts and universities may create a large number of patients, and first responders need to recognize the presence and location of buildings for their efficient rescue operations. In this paper, we propose an algorithm to estimate the two-dimensional (2D) shapes and positions of buildings, simultaneously using GPS logs and wir...

The present work considers corridor–following maneuvers for nonholonomic mobile robots, guided by sensory data acquired by panoramic cameras. The panoramic vision system provides information from an environment with textured walls to the motion control system, which drives the robot along a corridor. Panoramic cameras have a 360 visual field, a capability that the proposed control methods explo...

This paper develops an exhaust manifold pressure estimation method for a Diesel engine equipped with a variable geometry turbine (VGT) turbocharger. Extrapolated VGT data-maps are used directly for the estimation of the exhaust pressure using a noniterative Newton-Raphson based method suitable for real-time applications. This approach can give more accurate estimations than traditional methods ...

[ISSN: 2045-7057] www.ijmse.org 10  Abstract—In recent years, the problem of optimal energy management has become a global concern all across the world. In this regard, this paper investigates the optimal scheduling of energy sources in microgrids taking into consideration distributed energy sources. In the presented paper Distributed Generation (DG) includes Micro-Turbines (MTs) as well as Fu...