Umesh Bhagat

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This paper presents experimental analysis of laser interferometry-based closed-loop robust motion tracking control for flexure-based four-bar micro/nano manipulator. To enhance the accuracy of micro/nano manipulation, laser interferometry realized robust motion tracking control is established with the experimental facility. This paper contains brief(More)
Most of the micro/nano manipulation mechanisms and systems are commonly based on flexure-based monolithic structures, and are generally driven by piezoelectric actuators. In the presented work, experimental system identification, 1-DOF trajectory tracking with feed-forward control, and hysteresis compensation are investigated. An experimental research(More)
This paper presents the development and implementation of laser interferometry-based sensing and measurement for precise positioning and tracking of multirotor helicopters. A control architecture is developed, which incorporates position feedback from a laser interferometry-based sensing and measurement system. A dynamics model of multirotor helicopters is(More)
This paper presents an experimental study of laser interferometry-based closed-loop motion tracking for flexure-based four-bar micro/nano manipulator. To enhance the accuracy of micro/nano manipulation, laser interferometry-based motion tracking control is established with experimental facility. The authors present and discuss open-loop control, model-based(More)
This paper presents the development and implementation of laser interferometry-based sensing and measurement for precise localisation of multirotor helicopters. A sliding mode-based control architecture is developed incorporating position measurements from the laser measurement system. The control architecture facilitates the auto-alignment of a laser-beam(More)
This paper presents a vision-based measurement methodology which utilises a micrometre calibration slide and confocal microscope. The technique is suitable for measurement of both angular and linear displacements. The algorithm presented in this paper overcomes the shortcomings of limited CCD pixel count and image size, out of focus areas at the boundaries(More)
This paper presents the design and analysis of a 2-DOF monolithic parallel mechanism for micro- and nano-manipulations. Two sets of statically indeterminate leaf parallelograms are employed to provide the decoupling effect, and the displacement of the piezoelectric actuator (PEA) is amplified with a statically indeterminate lever mechanism. Due to the(More)
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