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Variable Structure End Point Control Of A Flexible Manipulator, Shailaja Chenumalla, Sahjendra N. Singh
Variable Structure End Point Control Of A Flexible Manipulator, Shailaja Chenumalla, Sahjendra N. Singh
Electrical & Computer Engineering Faculty Research
We treat the question of control and stabilization of the elastic multibody system developed in the Phillips Laboratory, Edwards Air Force Base, California. The controlled output is judiciously chosen such that the zero dynamics are stable or almost stable. A variable structure control (VSC) law is derived for the end point trajectory control. Although, the VSC law accomplishes precise end point tracking, elastic modes are excited during the maneuver of the arm. A Linear stabilizer is designed for the final capture of the terminal state.
Optimization Of The Seating Position In A Human-Powered Vehicle, Y. Lei, Mohamed Trabia, D. Too
Optimization Of The Seating Position In A Human-Powered Vehicle, Y. Lei, Mohamed Trabia, D. Too
Mechanical Engineering Faculty Research
Until recently, most of the human-powered vehicles (HPV) were designed focusing solely on its aerodynamics characteristic. In many of these HPV designs, the rider seating position was arbitrarily chosen without consideration of its effect on the rider's comfort and cycling effectiveness. Also, there is no guarantee that the seating position is related to maximum power output. Too (1991) used an experimental approach to determine that the rider will produce the maximum anaerobic power when the seat tube angle of a bicycle is at 75° whereas Hull and Gonzalez (1990) used an engineering approach to optimize the cycling biomechanics. However several …