this paper proposes an efficient tracking method for velocity control of an electro-hydraulic servo system (ehss) in the presence of flow nonlinearities and internal friction. the tracking method controller is a kind of feedback error learning structure. in the proposed method, the feedback error learning (fel) algorithm is used to control the velocity. there is no need to compute the system ja...

1 Copyright © 2008 by ASME 1. Address all correspondence to this author. ABSTRACT STriDER (Self-excited Tripedal Dynamic Experimental Robot) is a unique three-legged walking robot that utilizes its innovative tripedal gait to walk. Previous work on the kinematic analysis of STriDER mainly focused on solving the forward and inverse displacement problems. As a continuation, this paper addresses t...

All methods for solving linear or nonlinear systems of equations require the evaluation of residual vectors, most algorithms are based on Jacobian-vector products and many schemes involve vector-Jacobian products. Moreover, while only exact Newton methods form and factor the Jacobian explicitly, some information about the size of its elements or the structure of its spectrum appears to be indes...

A function f : D ⊂ R → R is ordinarily evaluated by constructing a sequence {x1, x2, . . . , xn}, where each xk is obtained by evaluating an expression of the form xk = fk(x1, . . . , xk−1), and xn = f(x1, . . . , xd). In realization of such algorithms by computer programs, the expressions fk can be limited to assignments, arithmetic operations, and functions already programmed or built into th...

in this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. this mechanism has two rotational and one translational degree of freedom. kinematics and jacobian analysis are investigated. moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in matlab software. because of decreasing moving elements, it i...

In this paper, we show that the Jacobian conjecture holds for gradient maps in dimension n ≤ 3 over a field K of characteristic zero. We do this by extending the following result for n ≤ 2 by F. Dillen to n ≤ 3: if f is a polynomial of degree larger than two in n ≤ 3 variables such that the Hessian determinant of f is constant, then after a suitable linear transformation (replacing f by f(Tx) f...

Therefore, we first need to find the regions that require fewest compromised meters for an undetectable attack. In [6], Liu et al. proposed a heuristic algorithm for desirable attack region in DC model, where z = Hx+e and H is fixed; with column transformation of H matrix, they aimed to find a column vector with the greatest number of zero elements. However, in our AC model case, there is no su...

Simulations and optimizations are carried out to investigate real-world problems in science and engineering. For instance, solving systems of linear equations with sparse Jacobian matrices is mandatory when using a Newton-type algorithm. The sparsity of Jacobian matrices is exploited and only a subset of the nonzero elements is determined to successfully reduce the usage of the restricting reso...