We reported on one new series of light-emitting copolymers for polymer light-emitting devices (PLEDs), poly(dioctyl fluorene-codiphenyl oxadiazole)s (P(DOF-DPO)s). The device structure used in this study was composed of: indium tin oxide (ITO) anode/PEDOT:PSS ((polyethvlenedioxythiophene)–poly(styrene sulfonate)) as hole-transporting layer/P(DOF) or P(DOF-DPO) as emissive layer/calcium + alumin...

In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

Model Reference Adaptive Control (MRAC) is consists of a reference model, a plant model, and adaptive law. It is made to follow the target system to the reference model by fixed gain. As study example, Yang developed an adaptive control for SISO state space system[1]. Yang’s method[1] was not discussed about the performance of the reference model. MRAC depends on performance of the reference mo...

development of an intelligent huggable robot named ANTY (Fig.1) that will interact with hospitalized children to distract and support them during their stay in hospital. This robot is subject of a multidisciplinary project covering research opportunities not only in mechanical design, vision, speech and AI, but also in sociology and psychology. The main goal of the first phase is the developmen...

in this paper, trajectory generation for the 4 dof arm of surena iii humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. for this purpose, first, kinematic equations for a seven dof manipulator are derived. then, using the lagrange method, an explicit dynamics model for the arm is developed. in the next step, in order to generate the desired traject...

In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on ...

In this paper, a nonlinear model of the underactuated six degrees of freedom (6 DOF) quadrotor helicopter was derived based on the Newton-Euler formalism. A new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. The proposed control structure consist of a sliding mode control base...

Exploiting recent results based on differential geometric control theory, it is shown in the paper, that by suitable choice of generalized coordinates, the biped dynamics may be represented by almost linear model. This representation enables efficient use of well known classical control methodology to define stable control. This approach is based on complete two-DOF and three-DOF nonlinear mode...

Preroughening and roughening transitions are observed on the GaAs(001) surface using scanning tunneling microscopy. By tuning the substrate temperature or As4 pressure the surface morphology can be made free of islands, covered with one monolayer high islands or covered with islands on top of islands forming a wedding-cake-type structure. These three distinct surface morphologies are classified...

Automatic control of the robotic manipulator involves study of kinematics and dynamics as a major issue. This paper involves the forward and inverse kinematics of 2-DOF robotic manipulator with revolute joints. In this study the DenavitHartenberg (D-H) model is used to model robot links and joints. Also forward and inverse kinematics solution has been achieved using Artificial Neural Networks f...