in this paper a new strategy is proposed to design a fixed-structure robust controller for a flexible beam.  robust controller designed by the conventional  loop­ shaping method is not appropriate for a beam because of its high order and complicated form. fixed-structure  loop shaping control in conjunction with particle swarm optimization (pso)algorithm  is used to overcome this drawback. the ...

Robotic systems can benefit from the introduction of properly chosen joint elasticity. Besides their robustness against rigid impact, the energy saving capabilities may increase the system dynamics. In this paper, a method applicable for robots with serial elastic joints is presented, which embodies a desired oscillatory behavior into the hardware and thereby leads to improved performance. This...

The Application of Input Shaping to a System with Varying Parameters David P. Magee, Graduate Student Dr. Wayne J. Book, Professor George W. Woodruff School of Mechanical Engineering Georgia Institute of Technology Atlanta, Georgia The original input shaping technique developed by Singer and Seering is summarized and a different definition for residual vibration is proposed. The new definition ...

Optimization of a Coded-Modulation System with Shaped Constellation by Xingyu Xiang Ph.D. in Electrical Engineering West Virginia University Matthew C. Valenti, Ph.D., Chair Conventional communication systems transmit signals that are selected from a signal constellation with uniform probability. However, information-theoretic results suggest that performance may be improved by shaping the cons...

The important things in designing facilities for BNCT are to obtain neutron beams with appropriate energy spectrum and intensity for efficient treatment. In recent years, at several universities, accelerator-based BNCT facilities were designed, which are composed of target and beam shaping assembly to generate epithermal neutron beams[1]. As a previous study, target system[2][3] and a beam shap...

This work investigates the position control of an underactuated mechatronic system for straight needle insertions in soft tissues. The consists a pneumatic cylinder pushing slender supported at base and subject to external forces tip due interactions with dynamics is described by rigid-link model controller design purposes. main contribution this new energy shaping law that: (i) does not rely o...

The paper further elaborates on a passive output that was constructed in [3] with the purpose of providing an energy-balance (EB) interpretation for basic interconnection and damping assignment (BIDA [6, 7]). Such output has its roots in power shaping [4], an alternative method to stabilize nonlinear RLC circuits subjected to the dissipation obstacle [6]. It has been recently shown in [5] that ...