In this paper we present a novel controller for Shape Memory Alloy (SMA) actuated robotic systems. The new controller, called BAC (B-spline based Adaptive Control), is based on a hybrid combination of gain scheduling, Bspline approximation, variable structure control and integral control. The proposed controller shows excellent positioning accuracy and speed throughout the full range of motion ...

Soft magnetic structures having a non-uniform magnetization profile can achieve multimodal locomotion that is helpful to operate in confined spaces. However, incorporating such anisotropy into their body not straightforward. Existing methods are either limited the anisotropic profiles they or too cumbersome and time-consuming produce. Herein, 3D printing method allowing incorporate directly pri...

We present a variant of the model introduced by Vogel and Yang [J. Opt. Soc. Am. A23, 1074 (2006)] for point-actuated deformable mirrors (DMs) with continuous facesheets, and we describe a robust efficient regularized- output least-squares computational scheme to estimate the parameters in the model, given noisy discrete observations of the DM response to known actuation. We demonstrate the eff...

A technique to design a dynamic continuous controller to regulate a class of full-actuated mechanical systems with dry friction is proposed. It is shown that the control eliminates the steady-state error and is robust with respect to parameter uncertainties. A simple method to find the parameters of the controller is also proposed. Moreover, an application of this result to control a 2-DOF unde...

In dip-pen nanolithography ~DPN!, nanoscale chemical patterns are created by directly transferring chemical molecules from the tip of an atomic force microscope probe to a surface. We report the development of a thermally actuated probe array for DPN applications. The array consists of ten thermal bimorph actuated probes, each 300 mm long, with a lateral spacing of 100 mm. The probes are actuat...

Intersections are considered as the most critical parts of the bus rapid transit (BRT) system. Transit signal priority is one of the efficient solutions to reduce BRT fleet delays at intersections. The aim of this study is to propose a new algorithm to decrease the BRT fleet delays at actuated intersections, while reducing the negative impacts on different approaches. The adaptive strategy is a...