A5078043600- Control and Dynamics of Mobile Robots
- Dynamics and Control of Mechanical Systems
- Crystallization and Solubility Studies
- X-ray Diffraction in Crystallography
- Robotic Locomotion and Control
- Adaptive Control of Nonlinear Systems
- Vibration and Dynamic Analysis
- Robotic Path Planning Algorithms
- Robotic Mechanisms and Dynamics
- Space Satellite Systems and Control
- Soft Robotics and Applications
- Structural Analysis and Optimization
- Peroxisome Proliferator-Activated Receptors
- Fluid Dynamics and Vibration Analysis
- Control and Stability of Dynamical Systems
- Prosthetics and Rehabilitation Robotics
- Biomimetic flight and propulsion mechanisms
- Structural Engineering and Vibration Analysis
- Modular Robots and Swarm Intelligence
- Guidance and Control Systems
- Aerospace Engineering and Energy Systems
- Robot Manipulation and Learning
- Adipose Tissue and Metabolism
- Vibration Control and Rheological Fluids
- Advanced Control Systems Optimization
Michigan State University
2015-2024
All India Institute of Medical Sciences Rishikesh
2024
Bristol-Myers Squibb (United States)
2002-2021
Michigan United
2020
All India Institute of Medical Sciences
2019
Indian Institute of Technology Kharagpur
2015-2017
Creative Research Enterprises (United States)
2015
University of Malaya
2015
Netaji Subhas University of Technology
2015
Al Zawiya University
2015
Impedance and Admittance Control are two distinct implementations of the same control goal. It is well known that their stability performance properties complementary. In this paper, we present a hybrid system approach, which incorporates as extreme cases one family controllers. This approach allows to continuously switch interpolate between Control. We compare basic resulting controllers by means an extensive case study one-dimensional experimental evaluation using KUKA-DLR-lightweight arm.
The nonholonomic path planning of space robot systems is discussed. A vehicle with a 6-DOF (degree freedom) manipulator described as nine-variable system six inputs. Utilizing the nature, orientation can be controlled in addition to joint variables by actuating only variables, if trajectory carefully planned. path-planning method motion developed using Lyapunov function.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
The path planning of nonholonomic motion space robot systems is discussed. A vehicle with a 6-DOF (degrees freedom) manipulator described as nine-variable system six inputs. It shown that, by carefully utilizing the mechanical structure, orientation in addition to joint variables can be controlled actuating only variables. structure shown. rigorous mathematical proof nature free-flying provided using Frobenius's theorem. method for established Lyapunov function.< <ETX...
Liver X receptors (LXRs) are ligand-activated transcription factors that belong to the nuclear receptor superfamily. LXRs activate of a spectrum genes regulate reverse cholesterol transport, including ATP binding cassette transporter A1 (ABCA1), and raise HDL (HDL-C) levels. However, LXR agonists also induce stimulate lipogenesis, sterol response element protein (SREBP1-c) fatty acid synthetase (FAS). The induction these in liver cause increased hepatic triglyceride synthesis,...
In this brief, we propose a "shared-control" architecture for design of haptic interface hands-on training in minimally invasive surgery. The is designed to allow experienced surgeons mentor trainee through shared control surgical robot. During control, the provides feedback forces both surgeons, proportional difference their actions and reversely authority between them. chosen based on relative level skills experience determines extent which motion robot depends individual commands. We use...
Presents two underactuated kinematic designs for miniature climbing robots. They use suction. The underactuation is to save weight.
In comparison to wheeled robots, spherical mobile robots offer greater mobility, stability, and scope for operation in hazardous environments. Inspite of these advantages, designs have failed gain popularity due complexity their motion planning control problems. this paper, we address the problem rolling sphere, often referred literature as “ball-plate problem,” propose two different algorithms reconfiguration. The first algorithm, based on simple geometry, uses a standard kinematic model...
The standard control problem of the pendubot refers to task stabilizing its equilibrium configuration with highest potential energy. Linearization dynamics about this results in a completely controllable system and allows linear controller be designed for local asymptotic stability. For underactuated pendubot, important is, therefore, design that will swing up both links bring variables within region attraction desired equilibrium. This paper provides new method swing-up based on series...
The problem of realizing rotary propeller motion a devil-stick in the vertical plane using forces purely normal to stick is considered. This represents nonprehensile manipulation task an underactuated system. In contrast with previous approaches, manipulated by controlling force and its point application. Virtual holonomic constraints are used design trajectory center-of-mass terms orientation angle, conditions for stable derived. Intermittent large-amplitude asymptotically stabilize desired...
Mobile robots have been traditionally designed with wheels and few explored designs spherical exo-skeletons. A mobile robot that offers to a number of advantages, is proposed in the paper. The success our design contingent upon development control strategies for reconfiguration sphere. We address open-loop problem present two reconfiguration. first strategy uses triangles bring sphere desired position orientation. second specific kinematic model generates trajectory comprising straight lines...
Peroxisome proliferator-activated receptors (PPARs) and retinoid X (RXRs) are members of the intracellular receptor superfamily. PPARs bind to peroxisome proliferator-response elements (PPREs) as heterodimers with RXR such activate gene transcription in response activators. Fibrates like gemfibrozil well-known PPARalpha activators used treatment hyperlipidemia. We show that ligand LGD1069 (Targretin), gemfibrozil, can PPARalpha/RXR signal-transduction pathway, including transactivation...
Nonholonomic redundancy is an intrinsic property of nonholonomic mechanical systems. A free-flying space robot a system, and exhibits the presence even in absence ordinary kinematic redundancy. Like redundancy, can also be utilized while planning trajectories for system. In paper, trajectory scheme 6-DOF developed which avoiding joint limits obstacles utilized.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Underactuated mechanisms will provide low-cost automation, easily overcome actuator failures, and be particularly useful for space applications because of their reduced mass lower power consumption. In underactuation can effectively introduced in robot manipulators. Such however difficult to control the fewer number actuators system. It is shown that when actuated joints do not have brakes, it possible bring system a complete rest converge desired values, provided maintains zero momentum...
The authors discuss the nonholonomic mechanical structure of a space robot and its path planning. conservation angular momentum works as constraint, whereas linear is holonomic one. In this framework vehicle with 6-DOF (six-degree-of-freedom) manipulator described nine-variable system six inputs. This implies possibility controlling orientation well joint variables by actuating only if trajectory carefully planned, although both cannot be controlled independently. planning feasible path,...