In this paper, we propose a new family of controllers for multi-jointed planar monoped runners, based on approximate but accurate models of the stance phase dynamics of a two degree of freedom “SLIP” leg. Unlike previous approaches, the new scheme gives control over all parameters of the system including the hopping height, forward speed and duty cycle. The control laws are “deadbeat” in nature...

The importance of the slip flow over the no-slip condition is widely accepted in microscopic scaled domains with the direct impact on microfluidic and nanofluidic systems. The popular Navier Stoke’s (N-S) flow model is largely utilized with the slip flow phenomenon. In the present study, the finite integral transform scheme along with the shift of variables is implemented to solve the equation ...

In this paper, an observer-based direct adaptive fuzzy-neural controller (ODAFNC) for an anti-lock braking system (ABS) is developed under the constraint that only the system output, i.e., the wheel slip ratio, is measurable. The main control strategy is to force the wheel slip ratio to well track the optimal value, which may vary with the environment. The observer-based output feedback control...

This paper presents the design of an adaptive control law that guarantees stability for a tracked mobile robot under unknown longitudinal slip condition. The kinematic model of the mobile robot is derived considering the slip as an unknown parameter. A control law that actuates on the angular velocities of the robot wheels is designed such that the robot follows a given reference trajectory. An...

The GNSS community is experiencing a new era with the development of the multi-GNSS and multi-frequency industry. For high-precision GNSS data processing with the use of carrier phase measurements, quality control steps, such as, cycle slip detection and repair, are essential. With the correct detection and repair of the cycle slips, the carrier phase measurements will not be lumped by the unkn...

In the present study, plate impact pressure±shear friction experiments are conducted to provide insight into timeresolved dry sliding characteristics of metal on metal at normal pressures of approximately 1.5 GPa, slip speeds up to 60 m/s and interfacial temperatures as high as 8008C. The plate impact friction experiments represent a signi®cant improvement over conventional dynamic friction exp...

[1] We find that slow seismic events have smaller fault slips compared to ordinary earthquakes with similar dimensions. For ordinary earthquakes, the ratio of slip to fault length is largely consistent, yet the physical controls on this ratio are unknown. Recently discovered slow slip or creep events in which faults move quasi-statically over periods of days to years shed new light on this old ...

Much research on two-wheeled robots has been completed in the past decade, but robot stability in low-traction environments has not yet been considered. A model for the two-wheeled robot including wheel slip effects is derived. A wheel slip dependent friction model is used to simulate two low-traction surfaces: the first has characteristics similar to ice and the second is frictionless, in addi...

BACKGROUND Striatal dopamine activity declines with normal aging. Age-related striatal dopaminergic denervation (SDD) has been implicated in standing balance and unperturbed gait. The goal of this study was to analyze the association between the degree of SDD and the magnitude of an unexpected slip perturbation induced during gait. METHODS Fifty healthy participants aged 20-86 years old under...