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RISMotion Compensator for an Untethered Walking Insect Using Adaptive Model Predictive Control
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A locomotion compensator is normally utilized to observe the behavior of walking insects. These compensators cancel out the movement of freely walking insects to facilitate long-term imaging for studying behavior. However, ...
Reliability-Based Design Optimization of Uncertain Linear Systems Subjected to Random Vibrations1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A reliability-based design optimization (RBDO) approach for uncertain linear systems subjected to random vibrations is presented. The computation of the first-passage failure probability with uncertain system parameters ...
An Alternate Perspective on Modeling and Control of a Flexible Manipulator: Case Study of a Curvature Control Manipulator Dynamics
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The flexible and adaptable nature of continuum soft robots makes them applicable to a wide range of operations not easily obtainable with conventional rigid-body robots. Thus, soft robots can be used in various operations ...
Evaluation of the Positioning Accuracy Along Helical Paths Using a Telescoping Ballbar1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The telescoping ballbar is a versatile and easy-to-use error identification instrument for machine tools. The ballbar movement trajectory used while machining is limited to acquiring a large circular arc for positioning ...
Control of Resonant Disturbances on an Euler–Bernoulli Beam Using a Robust Partial Differential Equation Boundary Control Technique
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article discusses and analyzes the capabilities and limitations of a series of related controllers for Euler–Bernoulli beam vibration, and the powerful capabilities of a robust second-order sliding mode backstepping ...
Curvature Sensitive Modification of Pure Pursuit Control1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Pure pursuit control is a commonly used method in the vehicle path-tracking problem. While widely used, it has some limitations, including the fact that its accuracy is very sensitive to the lookahead distance. A variety ...
Adaptive Tracking Control of Robotic Manipulator Subjected to Actuator Saturation and Partial Loss of Effectiveness
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper introduces an adaptive control design tailored for robotic systems described by Euler–Lagrange equations under actuator saturation and partial loss of effectiveness. The adaptive law put forth not only retains ...
Vision-Inertial Fusion for Enhanced Relative Navigation: Application of MEKF and Refined Template Matching for Target Identification
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a formulation and methodologies for a vision-aided inertial navigation system designed for autonomous landing or proximity operation. Measurements from a monocular camera are integrated with inertial ...
Contraction Analysis of Multi-Agent Control for Guaranteed Capture of a Faster Evader1
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This work presents a verifiable condition for the selection of a sufficient number of pursuers to capture a faster evader. The condition is based on the tracking performance of a multi-agent control scheme. Trajectory ...
Comparison of Two-Wheel and Four-Wheel Steering Using Event-Triggered Predictive Motion Control and Scale Vehicles
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This study compares the trajectory tracking performance of two- and four-wheel steering systems, especially under normal driving conditions. Specifically, the lateral motion is controlled by an event-triggered model ...