The quality and stability of noise shaping is a concern in the design of higher-order delta-sigma modulators for high-resolution, high-speed oversampled analog-to-digital conversion. We reformulate noise-shaping modulation alternatively as a nonlinear optimal control problem, where the objective is to find the binary modulation sequence that minimizes signal swing in a cascade of integrators op...

Thermal bimorphs are a popular actuation technology in MEMS (Micro-Electro-Mechanical Systems). Their operating principle is based on differential thermal expansion induced by Joule heating. Thermal bimorphs, and other thermal flexture actuators have been used in many applications, from microgrippers, to micro-optical mirrors. In most cases openloop control is used due to difficulties in fabric...

Precise position control and rapid rest-to-rest motion is the desired objective in a variety of applications. The desire for reducing the maneuver time requires reducing the inertia of the structure which subsequently results in low frequency dynamics. The requirement of precise position control implies that the residual vibration of the structure should be zero or near zero. This paper present...

Chang-Do Huh and Keum-Shik Hong a Department of Mechanical and Intelligent Systems Engineering, Pusan National University, 30 Jangjeon-Dong, Kumjeong-Ku, Pusan, 609-735, Korea. Tel: +82-51-510-1481, Fax: +82-51-514-0685, Email: [email protected] b School of Mechanical Engineering, Pusan National University, 30 Jangjeon-Dong Kumjeong-Ku, Pusan 609-735, Korea. Tel: +82-51-510-2454, Fax: +82-51-51...

It is widely and frequently observed that industrial robots conducting fast motion involve serious residual vibration, the period of which varies with time. To address this time-varying residual vibration problem, this paper presents a practical solution based on a time-varying input shaping technique (TVIST). First, to suppress the time-varying vibration, a guideline for designing a practical ...

Consider a swarm of particles controlled by global inputs. This paper presents algorithms for shaping such swarms in 2D using boundary walls. The range of configurations created by conforming a swarm to a boundary wall is limited. We describe the set of stable configurations of a swarm in two canonical workspaces, a circle and a square. To increase the diversity of configurations, we add bounda...

This paper presents investigations into the development of hybrid control schemes for input tracking and vibration control of a flexible robot manipulator. A constrained planar single-link flexible manipulator is considered and the dynamic model of the system is derived using the assume mode method. To study the effectiveness of the controllers, initially a collocated PD control is developed fo...

The Internet has shown a great capability of endless growing without incurring congestion collapse. The key of this success lies on its TCP/IP congestion control algorithm. In this paper we use control theoretic analysis to model the Internet flow and congestion control as a time delay system. We show that the self-clocking principle, which is known to be a key component of any stable congestio...

It is well known that a conventional Input Shaping Technique is not very effective in suppressing residual vibrations for non-LTI systems, such as Substantially nonlinear or timevarying systems. In an effort to increase the effectiveness for such systems, this paper presents a Learning Input Shaping Technique(LIST), which iteratively updates the parameters of the IST from the previous trials. S...

Probabilistic Amplitude Shaping (PAS) is a novel method of reliable commmunication over channels with non-uniform capacity achieving input distribution. The encoder of PAS is a concatenation of a distribution matcher with systematic encoding of a Forward Error Correction (FEC) code whereas the PAS decoder is a concatenation of a mismatched FEC decoder and dematcher. In recent works PAS has been...