Asymptotic Rejection of Nonvanishing Disturbances Despite Plant-Model Mismatch
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The structure of the human musculo-skeletal systems shows complex passive dynamic properties, critical for adaptive grasping and motions. Through wrist and arm actuation, these passive dynamic properties can be exploited to achieve nuanced and diverse envi ...
For the first time, inter-operator dependence of MRI based computational fluid dynamics (CFD) modeling of cerebrospinal fluid (CSF) in the cervical spinal subarachnoid space (SSS) is evaluated. In vivo MRI flow measurements and anatomy MRI images were obta ...
In this study, a survey on control allocation algorithms in tactical level control for path tracking unmanned surface vehicles (USV) is conducted. The strategic goal in the path tracking problem is to assist navigation solution of an unmanned underwater ve ...
IEEE2017
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One of the challenges of minimally invasive surgery is the dexterous manipulation and precise control of small diameter continuum surgical instruments. In this paper, a magnetic continuum device with variable stiffness (VS) is presented, whose tip can be p ...
Many daily tasks involve the collaboration of both hands. Humans dexterously adjust hand poses and modulate the forces exerted by fingers in response to task demands. Hand pose selection has been intensively studied in unimanual tasks, but little work has ...
A mechanical isotropic harmonic oscillator including a frame, a mass configured to oscillate, and three flexure rods, each flexure rod connecting the mass to the frame. ...
We proposed and showed strongly orientation-controlled Forster resonance energy transfer (FRET) to highly anisotropic CdSe nanoplatelets (NPLs). For this purpose, we developed a liquidair interface self-assembly technique specific to depositing a complete ...
A new model-reference data-driven approach is presented which uses the frequency response data of a system in order to avoid the problem of unmodeled dynamics associated with low-order parametric models. It is shown that a convex optimization problem can b ...
In the process of vibration suppression of hot galvanized steel strip by using maglev technology, the flexible modal vibration control of steel strip is a challenging problem. Aiming at this problem, this paper proposes a phase compensation control algorit ...
This paper addresses the design of convergence and performance certified sampled-data model predictive control (MPC) laws with a time-dependent economic performance index. More precisely, using a dissipativity property of the system, we provide a set of su ...