Fault tolerant control for uncertain systems with time varying state-delay is studied in this paper. Based on sliding mode controller design, a fault tolerant control method is proposed. By means of the feasibility of some linear matrix inequalities (LMIs), delay dependent sufficient condition is derived for the existence of a linear sliding surface which guarantees quadratic stability of the r...

This paper presents a new robotic mechanism for ultrasound imaging. The device is placed on a patient's body by an operator, and an ultrasound expert controls the motions of the device to obtain ultrasound images. The paper focuses on the robotic mechanism that performs ultrasound imaging. The design of the mechanism is based on two approaches to produce center of motion for an ultrasound probe...

this research work is devoted to the development of a mathematical model for the simulation of the flow of polymeric melts through the die region of extruders. a set of governing equations are solved using finite element method. standard galerkin technique is used in conjunction with the mixed scheme to solve the flow equation. due to the non-linear nature of global equations, the picard iterat...

In this paper, the mechanism of improvement of formability in pulsating hydroforming of T-shape tubes is investigated by the finite element simulation and experiment. It is shown that local thinning was prevented by oscillating the internal pressure, because the protrusion is formed gradually by the prevention of sharp bulging. In the hydroforming, for the pulsating pressure, several steps occu...

in this paper, a new structure possessing the advantages of low-power consumption, less hardware and high-speed is proposed for fuzzy controller. the maximum output delay for general fuzzy logic controllers (flc) is about 86 ns corresponding to 11.63 mflips (fuzzy logic inference per second) while this amount of the delay in the designed fuzzy controller becomes 52ns that corresponds to 19.23 m...

Precise and stable operations in micromanipulation microassembly require a high-performance microgripper. To improve the predominant static dynamic characteristics, novel piezoelectric-actuated compliant microgripper is designed, analyzed, tested this paper. The realizes large gripping stroke by integrating bridge mechanism, an L-shaped levered parallelogram mechanism. Optimization technology b...

A motion protection system is designed for a parallel motion platform with subsided cabin. Due to its complex structure, parallel mechanism is easy to encounter interference problems including link length limits, joints limits and self-collision. Thus a virtual spring algorithm in operational space is developed for the motion protection system to avoid potential damages caused by interference. ...

A mathematical model considering mass and momentum transfer was developed for simulation of ethanol dewatering via pervaporation process. The process involves removal of water from a water/ethanol liquid mixture using a dense polymeric membrane. The model domain was divided into two compartments including feed and membrane. For a description of water transport in ...