Underactuated fingers controlled by robust and adaptive trajectory following methods

Choosing an appropriate control scheme to alleviate nonlinearities and uncertainties is not a trivial task, especially when models are not easily available and practical evaluation provides the only means for actual performance assessment. Various factors can contribute to these nonlinearities and uncertainties, such as friction and stiction. Thus, this article investigates four different control schemes, namely PID, adaptive, conventional sliding mode control (SMC) and integral sliding mode control (ISMC) which are implemented in the Bristol Elumotion Robot Hand (BERUL) to analyse and overcome the aforementioned problems. The hand has five fingers with 16 joints and all fingers are underactuated. The implementation of the proposed control schemes are challenging since the BERUL fingers have significant friction, stiction and unknown parameters. The fingers are light in weight and fragile. Comparative performance characteristics have shown that the ISMC is the most suitable candidate to provide good experimental trajectory following and positioning control for underactuated BERUL fingers.     

Electrical resistivities and phase transformations of lanthanum,cerium, praseodymium,and neodymium

The electrical resistivities of high purity lanthanum, cerium, praseodymium, and neodymium were investigated as a function of temperature over the range from room temperature to near the melting points of the metals. Transformation temperatures were observed in these metals which were confirmed by supplementary X-ray diffraction studies.     

Non fermi liquid ground states in strongly correlated f-electron materials

Experimental efforts to characterize and develop an understanding of non Fermi liquid (NFL) behavior at low temperature in f-electron materials are reviewed for three f-electron systems: M_1–xU_xPd₃ (M = Sc, Y), U_1–xTh_xPd₂Al₃, and UCu_5–xPd_x. The emerging systematics of NFL behavior in f-electron systems, based on the present sample of nearly ten f-electron systems, is updated. Many of the f-electron systems exhibit the following temperature dependences of the electrical resistivity p, specific heat C, and magnetic susceptibility for T T₀, where T_o is a characteristic temperature: P(T) 1 –aT/T ₀, where a < 0 or > 0, C(T)/T (-1/T _o) In (T/bT ₀), and (T) 1 –c(T/T_o)^1/2. In several of the f-electron systems, the characteristic temperature T_o can be identified with the Kondo temperature T_k.     

Two-stage stochastic master production scheduling under demand uncertainty in a rolling planning environment

This paper proposes a scenario-based two-stage stochastic programming model with recourse for master production scheduling under demand uncertainty. We integrate the model into a hierarchical production planning and control system that is common in industrial practice. To reduce the problem of the disaggregation of the master production schedule, we use a relatively low aggregation level (compared to other work on stochastic programming for production planning). Consequently, we must consider many more scenarios to model demand uncertainty. Additionally, we modify standard modelling approaches for stochastic programming because they lead to the occurrence of many infeasible problems due to rolling planning horizons and interdependencies between master production scheduling and successive planning levels. To evaluate the performance of the proposed models, we generate a customer order arrival process, execute production planning in a rolling horizon environment and simulate the realisation of the planning results. In our experiments, the tardiness of customer orders can be nearly eliminated by the use of the proposed stochastic programming model at the cost of increasing inventory levels and using additional capacity.     

Adaptive discrete neural observer design for nonlinear systems with unknown time‐delay

This paper focuses on the adaptive observer design for nonlinear discrete‐time MIMO systems with unknown time‐delay and nonlinear dynamics. The delayed states involved in the system are arguments of a nonlinear function and only the estimated delay is utilized. By constructing an appropriate Lyapunov–Krasovskii function, the delay estimation error is considered in the observer parameter design. The proposed method is then extended to the system with a nonlinear output measurement equation and the delayed dynamics. With the help of a high‐order neural network (HONN), the requirement for a precise system model, the linear‐in‐the‐parameters (LIP) assumption of the delayed states, the Lipschitz or norm‐boundedness assumption of unknown nonlinearities are removed. A novel converse Lyapunov technical lemma is also developed and used to prove the uniform ultimate boundedness of the proposed observer. The effectiveness of the proposed results is verified by simulations. Copyright © 2010 John Wiley & Sons, Ltd.     

A fully integrated 1‐in. AMOLED display using current feedback based on a five‐mask LTPS CMOS process

Abstract— In the past, a five‐mask LTPS CMOS process requiring only one single ion‐doping step was used. Based on that process, all necessary components for the realization of a fully integrated AMOLED display using a 3T1C current‐feedback pixel circuit has recently been developed. The integrated data driver is based on a newly developed LTPS operational amplifier, which does not require any compensation for Vth or mobility variations. Only one operational amplifier per column is used to perform digital‐to‐analog conversion as well as current control. In order to achieve high‐precision analog behavior, the operational amplifier is embedded in a switched capacitor network. In addition to circuit verification by simulation and analytic analysis, a 1‐in. fully integrated AMOLED demonstrator was successfully built. To the best of the authors' knowledge, this is the first implementation of a fully integrated AMOLED display with current feedback.     

Adaptive neural dynamic surface control for servo systems with unknown dead-zone

An adaptive neural controller is proposed for nonlinear systems with a nonlinear dead-zone and multiple time-delays. The often used inverse model compensation approach is avoided by representing the dead-zone as a time-varying system. The “explosion of complexity” in the backstepping synthesis is eliminated in terms of the dynamic surface control (DSC) technique. A novel high-order neural network (HONN) with only a scalar weight parameter is developed to account for unknown nonlinearities. The control singularity and some restrictive requirements on the system are circumvented. Simulations and experiments for a turntable servo system with permanent-magnet synchronous motor (PMSM) are provided to verify the reliability and effectiveness.