A5101624796- Adaptive Control of Nonlinear Systems
- Dynamics and Control of Mechanical Systems
- Control and Dynamics of Mobile Robots
- Soft Robotics and Applications
- Teleoperation and Haptic Systems
- Vibration and Dynamic Analysis
- Underwater Vehicles and Communication Systems
- Micro and Nano Robotics
- Robotic Mechanisms and Dynamics
- Monoclonal and Polyclonal Antibodies Research
- Elevator Systems and Control
- Energy Efficient Wireless Sensor Networks
- Stroke Rehabilitation and Recovery
- Advanced Control Systems Design
- Guidance and Control Systems
- HER2/EGFR in Cancer Research
- Hydraulic and Pneumatic Systems
- Robotic Path Planning Algorithms
- Prosthetics and Rehabilitation Robotics
- Iterative Learning Control Systems
- Mobile Ad Hoc Networks
- Biomimetic flight and propulsion mechanisms
- Distributed Control Multi-Agent Systems
- Vibration Control and Rheological Fluids
- Cryptographic Implementations and Security
University of Florida
2022-2024
Florida College
2024
Nanjing University of Aeronautics and Astronautics
2011-2023
University College Dublin
2023
Yanshan University
2010-2023
Chinese University of Hong Kong, Shenzhen
2023
Fujian University of Traditional Chinese Medicine
2013-2023
Shanghai University of Engineering Science
2023
Henan University of Urban Construction
2022
University of Maryland, College Park
2022
Summary For the high precise tracking control purpose of a cable‐driven manipulator under lumped uncertainties, novel adaptive fractional‐order nonsingular terminal sliding mode scheme based on time delay estimation (TDE) is proposed and investigated in this paper. The mainly has three elements, ie, TDE element applied to properly compensate unknown dynamics system resulting fascinating model‐free feature; (FONTSM) surface used ensure precision steady phase; combined reaching law with...
For high control performance of cable-driven manipulators, we design a new adaptive time-delay (ATDC) using enhanced nonsingular fast terminal sliding mode (NFTSM). The proposed ATDC uses estimation (TDE) to acquire the lumped dynamics in simple way and founds practical model-free structure. Then, NFTSM surface is developed ensure convergence accuracy. To good comprehensive under uncertainties, this article propose novel algorithm for gain, which can regulate itself based on errors timely...
A new nonlinear robust control scheme is proposed and investigated for the trajectory tracking problem of an underwater vehicle-manipulator system (UVMS) using discrete time delay estimation (DTDE) technique. The mainly has two parts: DTDE part desired dynamics part. former one applied to properly estimate compensate complex unknown lumped system, intentionally time-delayed system's information. latter used obtain dynamic characteristic closed-loop system. Thanks technique, no longer...
Summary In this paper, a new practical robust control scheme is proposed and investigated for the cable‐driven manipulators under lumped uncertainties. There are three parts in method, ie, time‐delay estimation (TDE) part, modified super‐twisting algorithm (STA) fractional‐order nonsingular terminal sliding mode (FONTSM) error dynamics part. The TDE uses intentionally time‐delayed system signals to estimate of ensures an attractive model‐free structure. STA applied guarantee high performance...
Parallel mechanisms have been employed as architectures of high-precision vibration isolation systems. However, their performances in all degrees freedom (DOFs) are nonidentical. The conventional solution to this problem is isotropic mechanism design, which laborious and can hardly be achieved. This article proposes a novel concept; namely, control, solve problem. Dynamic equations parallel with base excitation established analyzed. An control framework then synthesized modal space. We...
Abstract Multi-degree-of-freedom (DOF) precision positioning stages (PPS) based on displacement amplifiers are commonly designed and used in engineering applications. However, the equivalent load cross-coupling effects these PPS can adversely impact kinematic performance of amplifiers, resulting a significant reduction accuracy. To this end, novel mathematical model has been developed chain-based compliance matrix (CMM) beam constraint model, enabling precise calculation amplification ratio...
Robot-assisted therapy affords effective advantages to the rehabilitation training of patients with motion impairment problems. To meet challenge integrating active participation a patient in robotic training, this study presents an admittance-based patient-active control scheme for real-time intention-driven powered upper limb exoskeleton. A comprehensive overview is proposed introduce major mechanical structure and system developed therapeutic robot, which provides seven actuated degrees...
Abstract Objective This study aimed to develop a natural language processing algorithm (NLP) using machine learning (ML) techniques identify and classify documentation of preoperative cannabis use status. Materials Methods We developed applied keyword search strategy status in clinical within 60 days surgery. manually reviewed matching notes each into 8 different categories based on context, time, certainty documentation. 2 conventional ML 3 deep models against manual annotation. externally...
The physical and mental health of college students tends to continuously decline around the world. Since they are in a significant transition period which presents opportunities challenges promotion, it is important improve their this period. As traditional Chinese exercise form combines movements with breath mind, Baduanjin may be one selectable effective exercises. However, evidence for has not been completely established. primary aim trial evaluate effectiveness safety through rigorous...
A new discrete time delay control design is presented and investigated for the joint-space of hydraulic manipulators in this article. Thanks to estimation technique, our designed controller no longer needs detailed system model, which very fascinating practical applications. Also, proposed method requires acceleration information be obtained through quadratic differential, usually essential continuous-time version manipulators. This may result fewer requirements computational effort or...
The aim of current study was to assess the effects Baduanjin exercise on cerebrovascular function, cardiac structure and static pulmonary traditional risk factors CVD related psychological outcomes in older community adults at for ischaemic stroke. A randomized controlled trial conducted three between November 2013 October 2015. Older community-dwelling (N = 170) were randomly allocated into either a training (5 × 60 min/weekly) or control group who kept their unaltered lifestyle during...
To ensure satisfactory control performance for the underwater vehicle-manipulator systems, a novel continuous nonsingular fast terminal sliding mode controller is proposed and investigated using time delay estimation in this article. Complex lumped unknown dynamics including strong nonlinear couplings external disturbance are properly compensated with estimation, which mainly based on time-delayed signals of systems can provide fascinating model-free feature. Afterwards, tracking good...
For the high-accuracy tracking control purpose of cable-driven manipulators under complex lumped uncertainties, a novel continuous nonsingular fast terminal sliding mode (CNFTSM) scheme using modified super-twisting algorithm (STA) is proposed and investigated in this paper. The method applies time-delay estimation (TDE) technique to estimate compensate unknown system dynamics leading an attractive model-free nature. Then, NFTSM manifold STA are used ensure finite-time convergence...
Cannabis use is increasing among older adults, but its impact on postoperative pain outcomes remains unclear in this population. We examined the association between cannabis and levels opioid doses within 24 hours of surgery.
For the motion coordination problem between underwater vehicle and manipulator of vehicle–manipulator system, a new redundancy resolution method is proposed investigated. The mainly has two parts: fuzzy logic part multitasks weighted gradient projection part. used to decide weight factors distribute matrix priorities all secondary objectives, while handle objectives with decided by Moreover, objective optimize system’s attitude, which takes payload into consideration. Finally, effectiveness...
In recent decades, robot-assisted rehabilitation therapy has been widely researched and proven to be effective in the motor function recovery of disabled individuals. this paper, an adaptive backstepping sliding mode control approach combined with neural uncertainty observer is developed for upper-limb exoskeleton, which can help human operator perform repetitive training. Firstly, a comprehensive overview about therapeutic exoskeleton hardware real-time system introduced. Then, controller...