ROBUST NONLINEAR CONTROL OF ROBOT MANIPULATOR WITH UNCERTAINTIES IN KINEMATICS DYNAMICS AND ACTUATOR...

This article presents analysis of inverse dynamics of a serial manipulator in milling process. With the exception of positioning accuracy issue, machining by robots have more advantages than by conventional CNC milling machines, due to higher flexible kinematics (many links and degrees of freedom) a[r]

10affected by interference and able to track the sample trajectory withasymptotic ≤  a .In addition, it can easily be seen that:- The bigger the value a is, the smaller neighboring point is.- d always exists to satisfy the assumption (2.8).- The controller (2.6) with offset si[r]

The solution of these equations is found simply using Euler method [52] . The change in system parameters may cause compli- cated and unpredictable love behavior. This feeling can be trans- lated into a chaotic attractor. Whereas, this change may affect the relation to be smooth[r]

a robota machine that works automatically and doessome tasks that humans can dotake somethingoverget control of something or get responsibility forsomethinga planeta large round object in space that moves aroundthe sun or another staran aliena creature that comes from ano[r]

control to the type of distributed systems over heterogeneouscommunication networks. The challenging issues include theguarantee of system reliability and performance under the influenceof time-varying transmission delay, message loss, message out-oforder, and non-[r]

Discussion
There is a need to develop better preclinical tumor models to evaluate new therapeutic approaches for mesothelioma. Patient derived tumor xenograft models are increasingly being recognized as a robust approach for evaluating the efficacy of novel therapeutic[r]

Keyword spotting (KWS) is one of the important systems on speech applications, such as data mining, call routing, call center, customer-controlled smartphone, smart home systems with voice control, etc. With the goals of researching some factors affecting the Vietnamese Keyword spotting system, we s[r]

This work deals with the control design and development of an automated car-following strategy that further increases robustness to vehicle dynamics uncertainties. The control algorithm is applied on a hierarchical architecture where high and low level control layers are designed for gap-control and[r]

1This paper was completed when the authors were visiting the Vietnam Institute forAdvance Study in Mathematics (VIASM). We would like to thank the VIASM for supportand hospitality.1During the past decades, the finite-time stabilization of linear control systems becomesa very impo[r]

An investigation was carried out at Sher-e-Kashmir University of Agriculture Science and Technology of Jammu during 2013-14 and 2014-15, to assess the influence of 4 tillage systems and 3 weed-control practices on weed dynamics and productivity in maize-wheat cropping sequence. In maize, grain yield[r]

substitution combined with increased international capital flows will lead to an inevitable contagion of financial crises. Introducing the concept and formula of relativerisk preference coefficient under the condition of the exponential utility function, weanalyze[r]

Eribulin is a non-taxane, microtubule dynamics inhibitor that increases survival of patients with metastatic breast cancer. Although eribulin is well tolerated in patients with heavily pretreated disease, eribulin-induced liver dysfunction (EILD) can occur, resulting in treatment modification and su[r]

In this paper, a robust PI controller in combination with a linear quadratic regulator (LQR) is proposed to control a two-wheeled inverted pendulum robot (TWIPR) such that it is kept balanced while moving. The proposed TWIPR control system consists of two control loops. The inner loop has two PI con[r]

outliers-resistance depends on its robustness. Not any recommendation of 3D Rk applicationare given yet.Continuing the zero-phase characteristic and focus on alleviating the boundary effect,some later filters have been developed based on the traditional Gaussian filter, namelyAdvance G[r]

A field study with phytohormones, chemicals and plant extract was conducted at Bengaluru and Patancheru locations to find out the best treatment for the management of SMD in pigeonpea. Results from the two field trials suggest three sprays of proporgite @ 0.15 %, recorded least SMD incidence of 2.00[r]

Vaccination of mice with tumors treated with Doxorubicin promotes a T cell immunity that relies on dendritic cell (DC) activation and is responsible for tumor control in vaccinated animals.

A field experiment was conducted at Agronomy farm, College of Agriculture, Bikaner during Rabi, 2009-10. The experiment was laid out in factorial randomized block design with three replications, assigning twelve treatments consisting of four levels of phosphorus (control, 20, 40 and 60 kg ha-1 ) and[r]

Patient selection
Patients 18 years of age or older with locally advanced rec- tal adenocarcinoma, clinical stage II-III [American Joint Committee on Cancer version 6: pelvic magnetic resonance imaging (MRI) was used to define T category and N cat- egory], within <15 cm fro[r]

The current study highlights the importance of entomopathogenic nematode (EPN), their bacterial symbionts and their combined efficacy along with Bacillus thuringiensis (Bt) in C. medinalis management. In the field experiment conducted at Thenthiruperai, Xenorhabdus bovienii+ Bt and X. japonica combi[r]

In present investigation attempts have been made to develop nutrient rich vermicelli by addition of wheat and malted ragi flour in different proportions (90:10 80:20, 70:30, 60:40 and 50:50) for optimization of ratio for production of better quality vermicelli. It was observed that among all the for[r]