Abstract Dynamics of miniature unmanned helicopter are considered nonlinear and mutually coupled; therefore designing of a stable control becomes a big challenge for researchers. This paper addresses this issue by proposing a hybrid control methodology using both traditional and intelligent control. A 3DoF model helicopter system is used as a controlled platform. This hybrid control used PID as...

This paper addresses the problem of controlling a mobile robot using a small, portable user interface. In some applications, including security and military, a user might command a mobile robot in the field using a wearable computer. The wearable computer may have a small display that would make information delivery difficult. Also, full video feedback from the robot may not be available due to...

A major part of the amount of realism in a rendering engine is the engine's camera model. Simulating real camera models can produce desired realistic effects such as depth of field (DOF). Several methods are currently used to simulate DOF but they are either computationally expensive methods that produce realistic results or inaccurate but fast methods. This paper includes a list of reasons beh...

This report describes the kinematic and dynamic modeling of a hexapod robot. The 6-DOF (degrees of freedom) analytical kinematic and dynamic equations of motion are derived following the classical Newtonian mechanics. Under certain task-specific assumption, it is shown that the complex 6-DOF model can be simplified, resulting in an abstract model. Specifically, the motion of the robot on the ho...

Abstract – The modeling and control of 3 Degrees-of-Freedom (DOF) four-rotor rotorcraft is presented in this paper. Optimal control (LQR), LQR with gain scheduling, feedback linearization and sliding-mode control are simulated and tested on an experimental rig. The performance of the individual controllers are compared and discussed. Our simulation showed Sliding Mode Control (SMC) returned the...

Abstract: This paper deals with an efficient application of a model based predictive control in parallel machines. A receding horizon control strategy based on a simplified dynamic model is implemented. Experimental results are shown for the H4 robot, a fully parallel structure providing 3 degrees of freedom (dof) in translation and 1 dof in rotation. The model based predictive control and the ...

The kinematics of a two rotational degrees-of-freedom (DOF) spherical parallel manipulator (SPM) is developed based on the coordinate transformation approach and the cosine rule of a trihedral angle. The angular displacement, angular velocity, and angular acceleration between the actuators and end-effector are thus determined. Moreover, the dynamic model of the 2-DOF SPM is established by using...

In this paper, the equation of motion of an elastic 2 DoF wing model has been derived using Lagrange's method. The aerodynamic loads on the wing were calculated via the Strip-Theory and the effect of compressibility was included. Wing deflections due to bending and twist motions were determined using the Assume-Mode method. The aeroelastic equations were solved numerically using the V-g method....

We have been developing an advanced general purpose computational mechanics system, named ADVENTURE, which is designed to be able to analyze a three dimensional finite element model of arbitrary shape with a 10-100 million degrees of freedom (DOF) mesh. Module based architecture of the system with standardized I/O format and libraries are developed and employed to attain flexibility, portabilit...