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The majority of hydraulic systems are controlled using a metering valve or the use of variable displacement pumps. Metering valve control is compact and has a high control bandwidth, but it is energy inefficient due to throttling losses. Variable displacement pumps are far more efficient as the pump only produces the required flow, but comes with the cost(More)
—Two concepts are advocated for the task specification and control of mechanical manipulators: 1) coding tasks in terms of velocity fields; 2) designing controllers so that the manipulator when under feedback control, interacts in an energetically passive manner with its physical environment. Based on these two concepts, a new passive velocity field(More)
The control of a bilateral teleoperated manipulator system is considered. The goal of the control are to i coordinate the motions of the two manipu-lators according to a predeened kinematic scaling, ii render the dynamics of a locked system, and its response to forces from the human operator and environment to approximate that of predeened natural dynamics,(More)
Abstnact-In this paper, a teleoperation controller Is proposed for a-pair of nonlinear master and slave manip ulators. The control law enables the nonlinear robots to be perfectly coordinated despite arbitrary environment and human forcings, while ensuring that the closed loop teleop erator system is passive with respect to a supply rate that includes a(More)
— A practical maneuvering control strategy for an aquatic vehicle (AV) that uses an oscillating foil as a propulsor is proposed. The challenge of this problem lies in the need to consider the hydrodynamic interaction as well as the under-actuated and non-minimum phase natures of the AV system. The control task is decomposed into the off-line step of motion(More)
—The problem of stabilizing a single color tone reproduction curve of a xerographic printing engine is considered. This problem is critical to ensure high-fidelity color printing. The control system uses a small number of actuators and a small number of measurements to stabilize the potentially high-dimensional tone reproduction curve. The goal is to(More)
— This is the second part of a two-part paper on the design of an intelligent controller for a class of exercise machines. The control objective is to cause the user to exercise in a manner that optimizes a criterion related to the user's mechanical power. The optimal exercise strategy is determined by an a priori unknown biomechanical behavior, called the(More)