In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...

A solution technique for the dynamic analysis of asymmetric base-isolated buildings, subject to earthquake ground motion, is presented. To develop the formulation, a yield surface as a function of both shear force and torsion moment of the sliding surface with rigid perfectly plastic behavior is constituted. To achieve the objective, the yield stress is defined by the friction coefficient throu...

reaction to fire of fire-retarded rigid pur foams and two types of metal faced rigid polyurethane foam core sandwich panel was evaluated by using cone calorimeter test method. the tests were carried out in various radiative heat fluxes from 15 to 75 kw/m2. the radiation rate effect on reaction to fire parameters, including time to ignition (tti), peak of heat release rate (prhr), total heat rel...

The human lungs are divided into five independent compartments called lobes. The lobar fissures separate the lung lobes. It is hypothesized that the lobar surfaces slide against each other during respiration. We propose a method to evaluate the sliding motion of the lobar surfaces during respiration using lobe-by-lobe mass-preserving non-rigid image registration. We measure lobar sliding by eva...

In this paper to address a signed distance fuzzy sliding-mode control (SDFSMC) architecture which integrates cerebellar model articulation controller (CMAC). The proposed control consists of the SDFSMC and a feedforward compensation with modify CMAC network which to control the dynamics of the nonlinear systems with unknown structured nonlinearities without requiring a priori knowledge of the s...

A global non-singular terminal sliding mode controller for second order uncertain nonlinear dynamic systems, which enables enables finite time reachibility and elimination of the singularity problem associated with conventional terminal sliding mode control. The tracking precision problem is also explored. The relationship between the tracking precision and the width of the saturation function ...

In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC) for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL) control law, interval type-2 fuzzy system is designed. For compensating the approximation error between the FL control law and interval type-2...

In this paper, we present a novel cylindrical deployable structure and variations of its design with the following characteristics: 1. Flat-foldable: The shape flattens into a compact 2D configuration. 2. Rigid-foldable: Each element does not deform throughout the transformation. 3. One-DOF: The mechanism has exactly one degree of freedom. 4. Thick: Facets can be substituted with thick or multi...

a solution technique for the dynamic analysis of asymmetric base-isolated buildings, subject to earthquake ground motion, is presented. to develop the formulation, a yield surface as a function of both shear force and torsion moment of the sliding surface with rigid perfectly plastic behavior is constituted. to achieve the objective, the yield stress is defined by the friction coefficient throu...

The use of Coulomb’s friction law with the principles of classical rigid-body dynamics introduces mathematical inconsistencies. Specifically, the forward dynamics problem can have no solutions or multiple solutions. In these situations, compliant contact models, while increasing the dimensionality of the state vector, can resolve these problems. The simplicity and efficiency of rigid-body model...