The axonemal core of motile cilia and flagella consists of nine doublet microtubules surrounding two central single microtubules. Attached to the doublets are thousands of dynein motors that produce sliding between neighboring doublets, which in turn causes flagellar bending. Although many structural features of the axoneme have been described, structures that are unique to specific doublets re...

This article studies the multiagent control problem for affine, rigid, and translational formation, with aim of developing a unified distributed strategy global finite-time convergence. Global stabilization rigid formation in arbitrary dimensional spaces still remains open challenging. provides general solution to this based on sliding mode idea. The law design consists two parts: main force re...

An ideal I on a cardinal κ is called rigid if all automorphisms of P (κ)/I are trivial. An ideal is called μ-minimal if whenever G ⊆ P (κ)/I is generic and X ∈ P (μ)V [G] \ V , it follows that V [X] = V [G]. We prove that the existence of a rigid saturated μ-minimal ideal on μ+, where μ is a regular cardinal, is consistent relative to the existence of large cardinals. The existence of such an i...

Abstract To address the problem that attitude of a rigid satellite in orbit is susceptible to external disturbing moments, control method based on backstepping sliding mode proposed, which has strong robustness and anti-disturbance capability. Firstly, coupling term mathematical model eliminated by using method, secondly, law designed reduce sensitivity system disturbance moment change accelera...

Rotational control and swing suppression of a crane suspended load model with traveling disturbance are studied. A rotational free rigid body suspended by a single rope is controlled using three inertia rotors. The end-supporting-point of the single rope is forced to be traveled as disturbance. Control angles and angular velocities are derived from measured data of fiber optic gyros installed o...

In this paper we present an adaptive appoach to observe the joint velocity for rigid robot manipulators. This approach is based on the neural network and sliding mode technique. The adopted neural network is of the MLP (Multi Layer Perceptron) type with one hidden layer. The functions of the dynamic model of the robot manipulator are assumed unknown. The neural network parameters are adapted on...

A novel robust trajectory/force controller is developed on the basis of a combination of sliding-mode and adaptive control techniques. exact knowledge of robot dynamics and environment sti€ ness is not required. The controller is constructed so as to track reference trajectories in the unconstrained directions and to regulate force at a desired value in the constrained directions. Changes in co...

A hybrid fuzzy sliding mode controller is applied to the control of motorised tether spin-up coupled with an axial oscillation phenomenon. A six degree of freedom dynamic model of a motorised momentum exchange tether is used as a basis for interplanetary payload exchange. The tether comprises a symmetrical double payload configuration, with an outrigger counter inertia and massive central facil...

Origami is an ancient art form and can be divided into rigid non-rigid origami. Rigid origami suitable for the design of building structures because panels are not twisted deformed during folding process. Currently, generally built with steel. However, compared natural, non-polluting wood, steel has a high energy consumption environmental impact. Based on this situation, paper designs developab...