This paper presents an optimal shape trajectory planner for shape-accelerated underactuated balancing systems, which are destabilized by gravitational forces. These systems have unactuated shape variables and fully actuated external variables. They also have the same number of actuated and unactuated degrees of freedom. Their equations of motion result in nonholonomic acceleration/dynamic const...

This paper is devoted to trajectory tracking control for port-Hamiltonian systems. The control law presented here is extension of an existing passive velocity field controller for fully actuated mechanical systems. The proposed method employs vector fields on the phase (co-tangent) spaces instead of those on the velocity (tangent) spaces. Since port-Hamiltonian systems can describe a wider clas...

background: an imbalance of the cerebrovascular response during functional activation of the brain has been postulated as a factor in the pathophysiology of migraine. the purpose of this study was to determine the transcranial doppler sonography (tds) diagnostic value for the cerebral flow velocity changes in the interictal phase of classic migraine. methods: this study was carried out on 46 pa...

This paper describes a fuzzy control system for the avoidance of moving objects by a robot. The objects move with no type of restriction, varying their velocity and making turns. Due to the complex nature of this movement, it is necessary to realize temporal reasoning with the aim of estimating the trend of the moving object. A new paradigm of fuzzy temporal reasoning, which we call fuzzy tempo...

In order to adapt to the requirements of the development for precision agriculture technology, making the rice seed tape planting technology has been widely used. The paper-making improved the design on the rice seed tape twisting machine especially the seed tape winding units. It proposed seed tape winding automatic control system based on STC90C514AD to realize the rotating speed adjustment o...

Abstract: This paper addresses the dynamic stabilization problem of a two-wheeled differentially driven nonholonomic mobile robot. The proposed strategy is based on changing the robot control variables from x, y and θ to s and θ, where s represents the robot linear displacement. Using this model, the nonholonomic constraints disappear and we show how the linear control theory can be used to des...

In this paper, the path following controller of an omnidirectional mobile robot (OMR) has been extended in such a way that the forward velocity has been optimized and the actuator velocity constraints have been taken into account. Both have been attained through the proposed model predictive control (MPC) framework. The forward velocity has been included into the objective function, while the a...

A new approach for flexible automated handling of fabrics in the sewing process is described, which focuses to control the cloth tension applied by a robot. The proposed hierarchical robot control system includes a Fuzzy decision mechanism combined with a Neuro-controller. The expert’s actions during the sewing process are investigated and this human behavior is interpreted in order to design t...