evolving models have found applications in many real world systems. in this paper, potentials of the evolving linear models (elms) in tracking control design for nonlinear variable structure systems are introduced. at first, an elm is introduced as a dynamic single input, single output (siso) linear model whose parameters as well as dynamic orders of input and output signals can change through ...

When a flexible arm is r o t a t e d b y a motor a b o u t an axis th rough the arm's fixed end , t ,ransverse vibrat ion may occur. The motor t o r q u e should be controlled in such a way that t h e motor rotates b y a specified angle, while simultaneously stabil izing v ibra t ion of t h e flexible arm so that it is arrested at t h e end of rotat ion. In this paper, we propose determinis t i...

background and aims. there are many edentulous people with severely resorbed residual ridges and non-resilient lining mucosa that are unable to tolerate occlusal forces during functional and parafunctional movements. lining the tissue surface of dentures with a flexible material can theoretically distribute and absorb forces with cushioning effect. the aim of this study was to evaluate the effe...

In this paper we present a new approach for joint trajectory tracking of a single-link flexible robot manipulator. Firstly a distributed parameter dynamic model is derived using extended Hamilton Principle. Based on this model a new moment feedback trajectory tracking control scheme is designed for a single-link flexible robot manipulator having a payload at its free end. The control scheme is ...

snake robots are hyper-redundant robots that are connected with one or two dof joints. they offer a number of potential advantages beyond the capabilities of most wheeled and legged robots. in this paper, kinematics and dynamics of a planar multi-link snake robot in worm-like locomotion on an inclined surface is investigated. in this locomotion, snake robot is able to move in the vertical plane...

in this paper effect of pile-soil consideration in obtaining seismic response offshore structure is assessed due to earthquake loading. inducedseismic force is one of the most important excitations for the dynamic response of an offshore structure. according to api, seismic forces should be accounted in platform design for seismically active regions in order to determine the allowable seismic r...

experiments were carried out to observe the influence of loading type on concrete beam specimens. beam specimens made of similar concrete mixture with the same geometry were tested under three point static loading and low velocity drop weight impact loading. load – displacement behavior, absorbed energy dissipation capacity, stiffnesses, failure modes of beam specimens were obtained and discuss...

In this article,the multiobjective optimization of cylindrical aluminum tubes under axial impact load is presented. Absorbed energy and specific absorb energy are considered as objective functions while the mean crush load should not exceed allowable limit.The geometric dimentions of tubes including diameter and length of tube are selected as the design variables.The Non-dominated sorting Genet...

Joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. Most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. The problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

This paper is concerned with the problem of design and implementation a robust adaptive control strategy for flexible joint electrically driven robots (FJEDR), while considering to the constraints on the actuator voltage input. The control design procedure is based on function approximation technique, to avoid saturation besides being robust against both structured and unstructured uncertaintie...