This paper addresses the control of robotic manipulators using the velocity field approach. Instead of the usual specification in motion robot control via desired position trajectories depending on time, the specification in the velocity field control formulation is given through a desired velocity vector field as a function of actual position regardless of time. This approach is useful for con...

Acknowledgements We would like to thank the R&D&I Linguistic Assistance Office, Universidad Politécnica de Valencia (Spain), for granting financial support for the linguistic revision of this paper. This work has been partially funded by the European project MASMICRO (Project number 500095-2), by the projects FEDER-CICYT with reference, DPI2005-08732-C02-02 and DPI2006-15320-C03-01, of the Mini...

This paper presents a delay-based control algorithm called the Integral Retarded (IR) controller, and its application to the velocity control of DC servomotors. The tuning of the IR controller uses a frequency domain analysis that generates the stability crossing boundaries in the parameter space corresponding to the controller gains, and the desired maximum exponential decay of the closed loop...

The thalamus is the major gate to the cortex, and its contribution to cortical receptive field properties is well established. Cortical feedback to the thalamus is, in turn, the anatomically dominant input to relay cells, yet its influence on thalamic processing has been difficult to interpret. For an understanding of complex sensory processing, detailed concepts of the corticothalamic interpla...

Particle Swarm Optimization (PSO) is a metaheuristic that is highly used to solve monoand multi-objective optimization problems. Two well-differentiated PSO versions have been defined – one that operates in a continuous solution space and one for binary spaces. In this paper, a new version of the Binary PSO algorithm is presented. This version improves its operation by a suitable positioning of...