This study is concerned with a new adaptive impedance control strategy to compensate for unknown time-varying environment stiffness and position. The uncertainties are expressed by Function Approximation Technique (FAT), which allows the update laws to be derived easily using Lyapunov stability theory. Computer simulation results are presented to validate the effectiveness of the proposed strat...

An available bit rate (ABR) service allows applications to access a time-varying network capacity. In a basic ABR service, the available network capacity is divided \fairly" amongst active connections, without regard to the utility that each application derives from the bandwidth allocation. The goal of this paper is to improve both the global and individual utility obtained by applications usi...

Many exist studies always use Markov decision processes (MDPs) in modeling optimal route choice in stochastic, time-varying networks. However, taking many variable traffic data and transforming them into optimal route decision is a computational challenge by employing MDPs in real transportation networks. In this paper we model finite horizon MDPs using directed hypergraphs. It is shown that th...

Dynamic joint stiffness is a dynamic, nonlinear relationship between the position of a joint and the torque acting about it, which can be used to describe the biomechanics of the joint and associated limb(s). This paper models and quantifies changes in ankle dynamic stiffness and its individual elements, intrinsic and reflex stiffness, in healthy human subjects during isometric, time-varying (T...

We consider the use of linear parameter-varying methods for the control of stiffness hysteresis in vibration isolation systems. We assume that the hysteresis model is known, and we describe it using a stiffness parameter that takes values in a compact convex set. The proposed parameter-dependent controller is continuously scheduled based on real-time measurements or estimates of the stiffness, ...