Because of the use of scattering based communication channels, passivity based telemanipulation systems can be subject to a steady state position error between master and slave robots. In this paper, we consider the case in which the passive master and slave sides communicate through a packet switched communication channel (e.g. Internet) and we provide a modification of the slave impedance con...

In this study a new passive, large particle impactor (PLPI) (PM<10) was developed and evaluated in a wind tunnel. The PLPI is designed to be isoaxial and isokinetic to enable large particles sampling without bias. The PLPI can provide representative sampling without requiring a mass flowmeter controller or pump. The PLPI is especially useful for aerosol wind tunnel studies to evaluate particle ...

This paper presents the design of an indirect adaptive feedback linearization (FBL)based control using dynamic neural networks (DNN) for full-car nonlinear electrohydraulic suspensions. Particle swarm optimization (PSO) algorithm is used in training the DNN to learn the dynamics of the system. A multi-loop, PSO-optimized proportional-integral-derivative (PID) control is implemented for the feed...

The nonlinear load such as UPS, fan controller, mobile charger is distorting the supply current waveform. This current harmonics derates the power system equipment. To avoid this current harmonics, filters namely passive filter / active filter /hybrid filters are introduced in the supply line. In this paper the overall view of the performance of the various filters are studied and the performan...

The purpose of this paper is to present a new robust strategy in controlling the active suspension system. The strategy utilized the proportional-integral sliding mode control scheme. A quarter-car model is used in the study and the performance of the controller is compared to the linear quadratic regulator and with the existing passive suspension system. A simulation study is performed to prov...

This study proposed a novel control scheme for multi-body semi-active suspension system (SASS), composed of a multibody model of SASS and a fuzzy logic controller based genetic algorithm (FLC-GA). ADAMS software was utilized to complete multi-body model of a full car SASS. Simulations with random road profile at two different speeds (25 m/s & 35 m/s) demonstrated that developed FLC-GA enhances ...

Many successful designs of compliant actuators have been recently proposed. However, the challenge of providing passive and active motion in one actuator has remained. In this paper, a novel mechanism for changing the stiffness of the series elastic actuator over a wide range is presented. An accurate force source is provided by introducing the force control using veloc...

The paper is focused on a new passive greenhouse architecture, provided with cold water heat pumps, wind generator and solar panels. This greenhouse is independent of any energetic infrastructure (electric, gas, hot water). The sizing of each element and the automate control are critical in order to reduce the costs. A simplified mathematical model, able to assist the design and the automate co...

A method for electromagnetic shunt damping (EMSD) will be presented in this paper. Compared to piezoelectric shunt damping, the proposed EMSD vibration controller has a number of bene ts. It requires small shunt voltages, can provide large stroke and can dampen larger mechanical structures. A passive control strategy is validated through experimentation on a simple electromagnetic mass-spring-d...

Trailer systems consist of a steering tractor and a passive trailer linked together with rigid free joint. The backward driving of trailer system is more difficult than the forward driving, because the backward driving of trailer system is unstable. In this paper, we study the backward tracking control for trailer systems and implement the asymptotically stable tracking controller using Lyapuno...