We present a numerical study of a one-dimensional version of the Burridge-Knopoff model [16] of N-site chain of spring-blocks with stick-slip dynamics. Our numerical analysis and computer simulations lead to a set of different results corresponding to different boundary conditions. It is shown that we can convert a chaotic behaviour system to a highly ordered and periodic behaviour by making on...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...

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We present a modeling language for the model-driven development of secure, distributed systems based on the Unified Modeling Language (UML). Our approach is based on role-based access control with additional support for specifying authorization constraints. We show how UML can be used to specify information related to access control in the overall design of an application and how this informati...

In model-driven engineering (MDE), models constitute the central artifacts in the development process, and thus, are often built by teams of developers. As a consequence, adequate version control for models is crucial to the success of MDE-based projects. Several model versioning systems have been proposed recently. Most of them are generic in the sense that they are agnostic to modeling langua...

Identity management and access control are essential in the enterprise IT landscape in order to control access to applications and to fulfil laws or regulations. The global competition of enterprises leads to short development cycles and fast changes of IT applications, which requires also an error-free and quick adaption of its security. The modeldriven development of access control policies p...

in previous papers authors have considered agents as inertia-less self driven particles and designed a flocking algorithm. application of this algorithm to agents with considerable inertial characteristics needs a behavioural controller. the controller uses the local information and helps every agent to imitate the desired behaviour as a member of the flocking frame which covers the main issue ...