A neural-network-based terminal sliding-mode control (SMC) scheme is proposed for robotic manipulators including actuator dynamics. The SMC (TSMC) alleviates some main drawbacks (such as contradiction between efforts in the transient and tracking errors steady state) linear while maintains its robustness to uncertainties. Moreover, an indirect method developed avoid singularity problem initial TSMC. In scheme, a radial basis function neural network (NN) adopted approximate nonlinear dynamics...

Light field imaging has emerged as a technology allowing to capture richer visual information from our world. As opposed traditional photography, which captures 2D projection of the light in scene integrating angular domain, fields collect radiance rays all directions, demultiplexing lost conventional photography. On one hand, this higher dimensional representation data offers powerful capabilities for understanding, and substantially improves performance computer vision problems such depth...

To perform power augmentation tasks of a robotic exoskeleton, this paper utilizes fuzzy approximation and designed disturbance observers to compensate for the torques caused by unknown input saturation, errors, viscous friction, gravity, payloads. The proposed adaptive control with updated parameters' mechanism additional torque inputs using are exerted into exoskeleton via feedforward loops counteract disturbances. Through such an approach, system does not need any requirement built-in...

In this paper, we take advantage of the clear texture structure epipolar plane image (EPI) in light field data and model problem reconstruction from a sparse set views as CNN-based angular detail restoration on EPI. We indicate that one main challenges sparsely sampled is information asymmetry between spatial domain, where portion domain damaged by undersampling. To balance information, high frequency components an EPI removed using blur, before feeding to network. Finally, non-blind deblur...

This paper proposes the energy-based controller (EC) incorporated with radical basis function (RBF) neural-network compensation (ECRBFC), which is used to swing up Pendubot and raise it its uppermost unstable equilibrium position. First, for known dynamics model of two-link arm, EC designed. In EC, singularity successfully avoided by constructing an appropriate energy evaluation function. Second, as friction Pendubot, because time-varying characteristics, accurate cannot be absolutely; thus,...

This brief presents a contouring control scheme for robotic manipulators. The geometric properties of the desired contour are incorporated in controller design phase, and resulting has been structured as two-layered hierarchical that consists an outer loop inner loop. is formed by kinematic system operational space, which can be designed to assign different dynamics tangential, normal, binormal direction contour. It shown provide joint velocity reference signal one. used implement servo at...

This article proposes a novel robust swing-up and balance control method using data-driven compensation signals for the Pendubot system, which is underactuated subject to dynamic friction, backlash, modeling uncertainty. The involves three major developments. First, uncertainty of system described by previous sampled unknown nonlinear term its changing rate. Compensation are then designed eliminate influence rate on outputs controlled plant. Second, based Lyapunov stability theory, proposed....

This paper mainly researches the swing-up control of Pendubot. Comparing with uppermost unstable equilibrium position, it is more difficult to make Pendubot swing up nonequilibrium position. In order complete target, energy-based controller incorporated fuzzy neural network compensation (ECFNNC) designed in this paper. addition, numerical simulations and experimental results actuated by a dc servo motor are given By comparing other algorithms, found that ECFNNC proposed has better...

This study presents a non-linear tip speed ratio (TSR) cascade controller for high power wind turbines (WTs) considering the effects of large rotor inertia and torsional behaviour shafts. A model-based is proposed inner loop. The required reference provided by an outer design procedure control WTs based on backstepping design. It shown that above two-loop schemes lead to nice structure closed-loop systems. Stability result adapted analysis this particular kind systems developed....

The fiber length and the Canadian standard freeness (CSF) are two key indices in measuring pulp quality of refining process with non-Gaussian stochastic distribution dynamics. Among them, it is defective to use conventional 1-D average (AFL) as a index because AFL insufficient describe 2-D probability density function (pdf) shaping (FLD) types. In this article, data-driven multiobjective predictive optimal control method proposed pdf FLD CSF, simultaneously. First, radial basis neural...

High-speed trains are very fast (e.g. 350km/h) and operate at high traffic density, so once a fault has occurred, the consequences disastrous. In order to better control train operational status by timely rapid detection of faults, we need new methods handle analyze huge volumes high-speed railway data. this paper, propose novel framework platform for diagnosis based on big data technologies. The aims allow researchers focus algorithm development on-line application, with all complexities...

We report about the effect of acids and surfactants on chemical mechanical polishing (CMP) (GST). A scanning electronic microscope was used to measure material removal rate. An atomic force adopted characterize surface quality. On basis results, GST CMP process promoted by additives with an increase in molecular chain length O/OH number. possible reaction mechanism presented. Furthermore, comparison electrical property films before after revealed that polished film possessed a higher...

This paper reports the demonstration of a high performance 4H-SiC floating junction barrier Schottky (FJ_JBS) rectifier with 30μm, 6×10 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">15</sup> cm xmlns:xlink="http://www.w3.org/1999/xlink">-3</sup> -doped epitaxial layer. Extensive simulations have been performed to design, optimize and analyze structure FJ_JBS rectifier. The fabricated shows that breakdown voltage (BV) differential R <sub...

We report on the use of mixed abrasives slurries (MAS) containing boron carbide and ceria for chemical mechanical polishing sapphire wafer. Possible MAS configuration theory was presented, basis which a material removal rate as high good surface with root mean square (rms) were achieved. Through succedent reactive ion etching process, we further improved quality to an rms , showed finely global planarization wafer had been

A damascene structure of phase change memory (PCM) is fabricated successfully with the chemical mechanical polishing (CMP) method, and CMP Ge2Sb2Te5 (GST) Ti films investigated. The polished surface wafer analysed by scanning electron microscopy (SEM) an energy dispersive spectrometer (EDS). measurements show that device achieved process. After top electrode deposited, dc sweeping test on PCM reveals can be observed. threshold current array cells varies between 0.90 mA 1.15 mA.

Chemical mechanical polishing (CMP) of amorphous Ge2Sb2Te5 (GST) is studied using aqueous solutions iron trichloride (FeCl3) as possible abrasive-free slurries. The performance compared with abrasive-containing (3wt% colloidal silica) slurry in terms rate and surface quality. experimental results indicate that the have a higher better In order to further investigate mechanism, post-CMP GST films are characterized by x-ray photoelectron spectroscopy. Finally, it verified no influence on...

We report on basic wet-etching solutions for (GST) phase change material. A scanning electronic microscope was used to observe the surface morphology and measure etching rate. On basis of results, it found that aqueous 10 vol % plus 25 wt bases, such as KOH, , tetramethylammonium hydroxide, resulted in lower rates but a much smoother than common acid solutions. In addition, process could be well controlled. Further X-ray photoelectron spectroscopy study etched samples showed GST, by...

Various water soluble organic additives were used in ceria-based slurries to control both the silicon oxide and nitride film removal rates. Our polish results zeta potential data suggest that with β-diketonatelike structures can inhibit We propose possible complexing between ceria abrasives might be responsible for this rate inhibition.