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Missouri University of Science and Technology

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Articles 1381 - 1410 of 1938

Full-Text Articles in Computer Sciences

Route Aware Predictive Congestion Control Protocol For Wireless Sensor Networks, Carl Larsen, Maciej Jan Zawodniok, Jagannathan Sarangapani Jan 2007

Route Aware Predictive Congestion Control Protocol For Wireless Sensor Networks, Carl Larsen, Maciej Jan Zawodniok, Jagannathan Sarangapani

Electrical and Computer Engineering Faculty Research & Creative Works

Congestion in wireless sensor networks (WSN) may lead to packet losses or delayed delivery of important information rendering the WSN-based monitoring or control system useless. In this paper a routing-aware predictive congestion control (RPCC) yet decentralized scheme for WSN is presented that uses a combination of a hop by hop congestion control mechanism to maintain desired level of buffer occupancy, and a dynamic routing scheme that works in concert with the congestion control mechanism to forward the packets through less congested nodes. The proposed adaptive approach restricts the incoming traffic thus preventing buffer overflow while maintaining the rate through an …

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Control Of Nonholonomic Mobile Robot Formations: Backstepping Kinematics Into Dynamics, Jagannathan Sarangapani, Travis Alan Dierks Jan 2007

Control Of Nonholonomic Mobile Robot Formations: Backstepping Kinematics Into Dynamics, Jagannathan Sarangapani, Travis Alan Dierks

Electrical and Computer Engineering Faculty Research & Creative Works

In this paper, we seek to expand framework developed to control a single nonholonomic mobile robot to include the control of formations of multiple nonholonomic mobile robots. A combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers. The asymptotic stability of the entire formation is guaranteed using Lyapunov theory, and numerical results are provided The kinematic controller is developed around control strategies for single mobile robots and the idea of virtual leaders. The virtual leader is replaced with …

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Neural Network Control Of Robot Formations Using Rise Feedback, Jagannathan Sarangapani, Travis Alan Dierks Jan 2007

Neural Network Control Of Robot Formations Using Rise Feedback, Jagannathan Sarangapani, Travis Alan Dierks

Electrical and Computer Engineering Faculty Research & Creative Works

In this paper, a combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers that are widely reported in the literature. A neural network (NN) is introduced along with robust integral of the sign of the error (RISE) feedback to approximate the dynamics of the follower as well as its leader using online weight tuning. It is shown using Lyapunov theory that the errors for the entire formation are asymptotically stable and the NN weights are bounded as opposed …

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Online Reinforcement Learning Control Of Unknown Nonaffine Nonlinear Discrete Time Systems, Qinmin Yang, Jagannathan Sarangapani Jan 2007

Online Reinforcement Learning Control Of Unknown Nonaffine Nonlinear Discrete Time Systems, Qinmin Yang, Jagannathan Sarangapani

Electrical and Computer Engineering Faculty Research & Creative Works

In this paper, a novel neural network (NN) based online reinforcement learning controller is designed for nonaffine nonlinear discrete-time systems with bounded disturbances. The nonaffine systems are represented by nonlinear auto regressive moving average with exogenous input (NARMAX) model with unknown nonlinear functions. An equivalent affine-like representation for the tracking error dynamics is developed first from the original nonaffine system. Subsequently, a reinforcement learning-based neural network (NN) controller is proposed for the affine-like nonlinear error dynamic system. The control scheme consists of two NNs. One NN is designated as the critic, which approximates a predefined long-term cost function, whereas an …

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Online Reinforcement Learning Neural Network Controller Design For Nanomanipulation, Qinmin Yang, Jagannathan Sarangapani Jan 2007

Online Reinforcement Learning Neural Network Controller Design For Nanomanipulation, Qinmin Yang, Jagannathan Sarangapani

Electrical and Computer Engineering Faculty Research & Creative Works

In this paper, a novel reinforcement learning neural network (NN)-based controller, referred to adaptive critic controller, is proposed for affine nonlinear discrete-time systems with applications to nanomanipulation. In the online NN reinforcement learning method, one NN is designated as the critic NN, which approximates the long-term cost function by assuming that the states of the nonlinear systems is available for measurement. An action NN is employed to derive an optimal control signal to track a desired system trajectory while minimizing the cost function. Online updating weight tuning schemes for these two NNs are also derived. By using the Lyapunov approach, …

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A Light-Weight Middleware Framework For Fault-Tolerant And Secure Distributed Applications, Ian Jacob Baird Jan 2007

A Light-Weight Middleware Framework For Fault-Tolerant And Secure Distributed Applications, Ian Jacob Baird

Masters Theses

"This thesis outlines the design, implementation, and performance of a lightweight middleware framework for interprocess communication with an update log propagation algorithm. The system was designed and implemented using a point-to-point based lightweight middleware framework and compared to a similar system implemented utilizing CORBA--Abstract, page iii.

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Sensor Network Coverage And Data Aggregation Problem: Solutions Toward The Maximum Lifetime, Li Yin Jan 2007

Sensor Network Coverage And Data Aggregation Problem: Solutions Toward The Maximum Lifetime, Li Yin

Masters Theses

"In the coverage problem, an optimal solution is proposed for the maximum lifetime sensor scheduling problem, which could find the upper bound of a sensor network's lifetime. This research reveals the relationship between the degree of redundancy in sensor deployment and achievable extension on network lifetime, which can be a useful guide for practical sensor network design"--Introduction, page 4.

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Management Of An Intelligent Argumentation Network For A Web-Based Collaborative Engineering Design Environment, Man Zheng Jan 2007

Management Of An Intelligent Argumentation Network For A Web-Based Collaborative Engineering Design Environment, Man Zheng

Masters Theses

"Conflict resolution is one of the most challenging tasks in collaborative engineering design. In the previous research, a web-based intelligent collaborative system was developed to address this challenge based on intelligent computational argumentation. However, two important issues were not resolved in that system: priority of participants and self-conflicting arguments. In this thesis, two methods are developed for incorporating priorities of participants into the computational argumentation network: 1) weighted summation and 2) re-assessment of strengths of arguments based on priority of owners of the argument using fuzzy logic inference. In addition, a method for detection of self-conflicting arguments was developed"--Abstract, page …

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An Open Framework For Highly Concurrent Hardware-In-The-Loop Simulation, Ryan C. Underwood Jan 2007

An Open Framework For Highly Concurrent Hardware-In-The-Loop Simulation, Ryan C. Underwood

Masters Theses

"Hardware-in-the-loop (HIL) simulation is becoming a significant tool in prototyping complex, highly available systems. The HIL approach allows an engineer to build a physical system incrementally by enabling real components of the system to seamlessly interface with simulated components. It also permits testing of hardware prototypes of components that would be extremely costly to test in the deployed environment. Key issues are the ability to wrap the systems of equations (such as Partial Differential Equations) describing the deployed environment into real-time software models, provide low synchronization overhead between the hardware and software, and reduce reliance on proprietary platforms. This thesis …

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Toward Improving Performance Measurement In Public Sector Organizations, Matthew Thomas Kutz Jan 2007

Toward Improving Performance Measurement In Public Sector Organizations, Matthew Thomas Kutz

Masters Theses

"The objective of this research is to investigate various means of improving the performance measurement methods for public sector organizations. A case study is conducted using data from the Missouri Department of Transportation (MoDOT). As a government organization, MoDOT must publish measurements of its performance for the general public and for the legislators who provide funding. Currently, MoDOT produces a quarterly publication, called the Tracker, for performance measurement reporting. This research hypothesizes that the Tracker is not an effective performance measurement system and stakeholders of MoDOT would benefit from a more concise and pointed report of MoDOT performance. A software …

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An Exploratory Study Of The Videoblogger's Community, John Warmbrodt Jan 2007

An Exploratory Study Of The Videoblogger's Community, John Warmbrodt

Masters Theses

"Videoblogs (vlogs) have emerged as a new form of virtual community. The goal of this study was to explore and understand the videoblogger community by studying the community's structure and the motivations of vloggers"--Abstract, page iii.

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A Quantitative Study Of Gene Identification Techniques Based On Evolutionary Rationales, Cyriac Kandoth Jan 2007

A Quantitative Study Of Gene Identification Techniques Based On Evolutionary Rationales, Cyriac Kandoth

Masters Theses

"Current gene identification (GI) techniques typically rely on matching biological or chemical properties of specific genes, specific species, specific ecotypes, etc...In this thesis, a new automated GI technique is proposed, and compared against another computer-based technique proposed earlier. Both methods utilize EST data available from NCBI databases to discover previously unknown genes. The newly proposed method identifies one gene family at a time and is based on a distinctive negative selection pattern (NSP) of differences, which is seen between the coding regions of gene family members. The other technique, called ESTminer, attempts genome-wide gene family identification for any organism, by …

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Near Optimal Output-Feedback Control Of Nonlinear Discrete-Time Systems In Nonstrict Feedback Form With Application To Engines, Peter Shih, Brian C. Kaul, Jagannathan Sarangapani, J. A. Drallmeier Jan 2007

Near Optimal Output-Feedback Control Of Nonlinear Discrete-Time Systems In Nonstrict Feedback Form With Application To Engines, Peter Shih, Brian C. Kaul, Jagannathan Sarangapani, J. A. Drallmeier

Electrical and Computer Engineering Faculty Research & Creative Works

A novel reinforcement-learning based output-adaptive neural network (NN) controller, also referred as the adaptive-critic NN controller, is developed to track a desired trajectory for a class of complex nonlinear discrete-time systems in the presence of bounded and unknown disturbances. The controller includes an observer for estimating states and the outputs, critic, and two action NNs for generating virtual, and actual control inputs. The critic approximates certain strategic utility function and the action NNs are used to minimize both the strategic utility function and their outputs. All NN weights adapt online towards minimization of a performance index, utilizing gradient-descent based rule. …

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Reinforcement Learning Neural-Network-Based Controller For Nonlinear Discrete-Time Systems With Input Constraints, Pingan He, Jagannathan Sarangapani Jan 2007

Reinforcement Learning Neural-Network-Based Controller For Nonlinear Discrete-Time Systems With Input Constraints, Pingan He, Jagannathan Sarangapani

Electrical and Computer Engineering Faculty Research & Creative Works

A novel adaptive-critic-based neural network (NN) controller in discrete time is designed to deliver a desired tracking performance for a class of nonlinear systems in the presence of actuator constraints. The constraints of the actuator are treated in the controller design as the saturation nonlinearity. The adaptive critic NN controller architecture based on state feedback includes two NNs: the critic NN is used to approximate the "strategic" utility function, whereas the action NN is employed to minimize both the strategic utility function and the unknown nonlinear dynamic estimation errors. The critic and action NN weight updates are derived by minimizing …

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Adaptive Power Control Protocol With Hardware Implementation For Wireless Sensor And Rfid Reader Networks, Kainan Cha, Jagannathan Sarangapani, David Pommerenke Jan 2007

Adaptive Power Control Protocol With Hardware Implementation For Wireless Sensor And Rfid Reader Networks, Kainan Cha, Jagannathan Sarangapani, David Pommerenke

Electrical and Computer Engineering Faculty Research & Creative Works

The development and deployment of radio frequency identification (RFID) systems render a novel distributed sensor network which enhances visibility into manufacturing processes. In RFID systems, the detection range and read rates will suffer from interference among high-power reading devices. This problem grows severely and degrades system performance in dense RFID networks. Consequently, medium access protocols (MAC) protocols are needed for such networks to assess and provide access to the channel so that tags can be read accurately. In this paper, we investigate a suite of feasible power control schemes to ensure overall coverage area of the system while maintaining a …

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Forecasting Consumer Adoption Of Technological Innovation: Choosing The Appropriate Diffusion Models For New Products And Services Before Launch, Roger Calantone, Lance Gentry Jan 2007

Forecasting Consumer Adoption Of Technological Innovation: Choosing The Appropriate Diffusion Models For New Products And Services Before Launch, Roger Calantone, Lance Gentry

Business and Information Technology Faculty Research & Creative Works

There are many good articles on various forecasting models. There is consensus that no single diffusion model is best for every situation. Experts in the field have asked for studies to provide empirical-based guidelines for recommending when various models should be used. This research investigates multiple diffusion models and provides recommendations for which diffusion models are appropriate for radical and really new products and services before the launch of the innovation.

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Adaptive Neural Network Based Stabilizing Controller Design For Single Machine Infinite Bus Power Systems, Wenxin Liu, Ganesh K. Venayagamoorthy, Donald C. Wunsch, David A. Cartes, Jagannathan Sarangapani, Mariesa Crow Jan 2007

Adaptive Neural Network Based Stabilizing Controller Design For Single Machine Infinite Bus Power Systems, Wenxin Liu, Ganesh K. Venayagamoorthy, Donald C. Wunsch, David A. Cartes, Jagannathan Sarangapani, Mariesa Crow

Engineering Management and Systems Engineering Faculty Research & Creative Works

Power system stabilizers are widely used to generate supplementary control signals for the excitation system in order to damp out the low frequency oscillations. In power system control literature, the performances of the proposed controllers were mostly demonstrated using simulation results without any rigorous stability analysis. This paper proposes a stabilizing neural network (NN) controller based on a sixth order single machine infinite bus power system model. The NN is used to approximate the complex nonlinear dynamics of power system. Unlike the other indirect adaptive NN control schemes, there is no offline training process and the NN can be directly …

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Development And Implementation Of Optimized Energy-Delay Sub-Network Routing Protocol For Wireless Sensor Networks, James W. Fonda, Maciej Zawodniok, S. Jagannathan, Steve E. Watkins Dec 2006

Development And Implementation Of Optimized Energy-Delay Sub-Network Routing Protocol For Wireless Sensor Networks, James W. Fonda, Maciej Zawodniok, S. Jagannathan, Steve E. Watkins

Electrical and Computer Engineering Faculty Research & Creative Works

The development and implementation of the optimized energy-delay sub-network routing (OEDSR) protocol for wireless sensor networks (WSN) is presented. This on demand routing protocol minimizes a novel link cost factor which is defined using available energy, end-to-end (E2E) delay and distance from a node to the base station (BS), along with clustering, to effectively route information to the BS. Initially, the nodes are either in idle or sleep mode, but once an event is detected, the nodes near the event become active and start forming sub-networks. Formation of the inactive network into a sub-network saves energy because only a portion …

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Optimal Placement And Control Of Unified Power Flow Control Devices Using Evolutionary Computing And Sequential Quadratic Programming, Radha P. Kalyani, Mariesa Crow, Daniel R. Tauritz Nov 2006

Optimal Placement And Control Of Unified Power Flow Control Devices Using Evolutionary Computing And Sequential Quadratic Programming, Radha P. Kalyani, Mariesa Crow, Daniel R. Tauritz

Electrical and Computer Engineering Faculty Research & Creative Works

A crucial factor effecting modern power systems today is power flow control. An effective means for controlling and improving power flow is by installing fast reacting devices such as a unified power flow controller (UPFC). For maximum positive impact of this device on the power grid, it should be installed at an optimal location and employ an optimal realtime control algorithm. This paper proposes the combination of an evolutionary algorithm (EA) to find the optimal location and sequential quadratic programming (SQP) to optimize the UPFC control settings. Simulations are conducted using the classic IEEE 118 bus test system. For comparison …

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Dynamic Programming-Based Energy-Efficient Rate Adaptation For Wireless Ad Hoc Networks, Maciej Jan Zawodniok, Jagannathan Sarangapani Nov 2006

Dynamic Programming-Based Energy-Efficient Rate Adaptation For Wireless Ad Hoc Networks, Maciej Jan Zawodniok, Jagannathan Sarangapani

Electrical and Computer Engineering Faculty Research & Creative Works

Resource constraints require that ad hoc wireless networks are energy efficient during transmission and rate adaptation. In this paper we propose a novel cross-layer energy-efficient rate adaptation scheme that employs dynamic programming (DP) principle to analytically select the modulation scheme online. The scheme uses channel state information from the physical layer and congestion information from the scheduling layer to select a modulation rate. This online selection maximizes throughput while saving energy and preventing congestion. The simulation results indicate that an increase in throughput by 96% and energy-efficiency by 131% is observed when compared to the Receiver Based AutoRate (RBAR) protocol.

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A P2p Integration Architecture For Protein Resources, K. T. Claypool, Sanjay Kumar Madria Oct 2006

A P2p Integration Architecture For Protein Resources, K. T. Claypool, Sanjay Kumar Madria

Computer Science Faculty Research & Creative Works

The availability of a direct pathway from a primary sequence (denovo or DNA derived) to macromolecular structure to biological function using computer-based tools is the ultimate goal for a protein scientist. Today's state of the art protein resources and on-going research and experiments provide the raw data that can enable protein scientists to achieve at least some steps of this goal. Thus, protein scientists are looking towards taking their benchtop research from the specific to a much broader base of using the large resources of available electronic information. However, currently the burden falls on the scientist to manually interface with …

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Adaptive Critic Neural Network Force Controller For Atomic Force Microscope-Based Nanomanipulation, Qinmin Yang, Jagannathan Sarangapani Oct 2006

Adaptive Critic Neural Network Force Controller For Atomic Force Microscope-Based Nanomanipulation, Qinmin Yang, Jagannathan Sarangapani

Electrical and Computer Engineering Faculty Research & Creative Works

Automating the task of nanomanipulation is extremely important since it is tedious for humans. This paper proposes an atomic force microscope (AFM) based force controller to push nano particles on the substrates. A block phase correlation-based algorithm is embedded into the controller for the compensation of the thermal drift which is considered as the main external uncertainty during nanomanipulation. Then, the interactive forces and dynamics between the tip and the particle, particle and the substrate are modeled and analyzed. Further, an adaptive critic NN controller based on adaptive dynamic programming algorithm is designed and the task of pushing nano particles …

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An Automated Method For Rapid Identification Of Putative Gene Family Members In Plants, Ronald L. Frank, Ajay Mane, Fikret Erçal Sep 2006

An Automated Method For Rapid Identification Of Putative Gene Family Members In Plants, Ronald L. Frank, Ajay Mane, Fikret Erçal

Biological Sciences Faculty Research & Creative Works

Background: Gene duplication events have played a significant role in genome evolution, particularly in plants. Exhaustive searches for all members of a known gene family as well as the identification of new gene families has become increasingly important. Subfunctionalization via changes in regulatory sequences following duplication (adaptive selection) appears to be a common mechanism of evolution in plants and can be accompanied by purifying selection on the coding region. Such negative selection can be detected by a bias toward synonymous over nonsynonymous substitutions. However, the process of identifying this bias requires many steps usually employing several different software programs. We …

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Pervasive Data Access In Wireless And Mobile Computing Environments, Ken C. K. Lee, Wang-Chien Lee, Sanjay Kumar Madria Sep 2006

Pervasive Data Access In Wireless And Mobile Computing Environments, Ken C. K. Lee, Wang-Chien Lee, Sanjay Kumar Madria

Computer Science Faculty Research & Creative Works

The rapid advance of wireless and portable computing technology has brought a lot of research interests and momentum to the area of mobile computing. One of the research focus is on pervasive data access. with wireless connections, users can access information at any place at any time. However, various constraints such as limited client capability, limited bandwidth, weak connectivity, and client mobility impose many challenging technical issues. In the past years, tremendous research efforts have been put forth to address the issues related to pervasive data access. A number of interesting research results were reported in the literature. This survey …

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A Methodology For Structured Object-Oriented Elicitation And Analysis Of Temporal Constraints In Hardware/Software Co-Analysis And Co-Design Of Real-Time Systems, Sun Yan, Xiaoqing Frank Liu, Bruce M. Mcmillin Sep 2006

A Methodology For Structured Object-Oriented Elicitation And Analysis Of Temporal Constraints In Hardware/Software Co-Analysis And Co-Design Of Real-Time Systems, Sun Yan, Xiaoqing Frank Liu, Bruce M. Mcmillin

Computer Science Faculty Research & Creative Works

The hardware/software co-design of a high-quality real-time system relies heavily on the modeling of both the hardware and software components from three aspects: structures, functionalities, and constraints, especially the temporal constraints. However, there is not a systematic process for the elicitation and analysis of temporal constraints in hardware/software co-design. Furthermore, existing object-oriented methods provide no means for the explicit specification of system/component constraints in object models. This paper presents a systematic methodology for structured object-oriented analysis and specification of temporal constraints in hardware/software co-analysis and co-design using an extended High-Order Object-Oriented Modeling Technique (HOOMT). This methodology hierarchically elicits and analyzes …

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An Instance-Based Structured Object Oriented Method For Co-Analysis/Co-Design Of Concurrent Embedded Systems, Matt Ryan, Xiaoqing Frank Liu, Bruce M. Mcmillin, Ying Cheng, Sule Simsek Sep 2006

An Instance-Based Structured Object Oriented Method For Co-Analysis/Co-Design Of Concurrent Embedded Systems, Matt Ryan, Xiaoqing Frank Liu, Bruce M. Mcmillin, Ying Cheng, Sule Simsek

Computer Science Faculty Research & Creative Works

The current object-oriented class-based approaches to hardware/software co-analysis/co-design of embedded systems are limited in their abilities to properly capture the structure of individual instances of hardware and software components and their interactions. This paper discusses a methodology to extend a structured objectoriented hardware/software co-design methodology based on the High Order Object-oriented Modeling Technique (HOOMT) to incorporate instance-based object and behavioral models. The instance-based structured object-oriented methodology will enable description of a system's structure based on individual instances of hardware and software components and specification of the interactions among them. In addition, lattices are introduced to specify the concurrent behavior of …

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Two Energy Efficient Algorithms For Tracking Objects In A Sensor Network, Arvind Rapaka, Sanjay Kumar Madria Jul 2006

Two Energy Efficient Algorithms For Tracking Objects In A Sensor Network, Arvind Rapaka, Sanjay Kumar Madria

Computer Science Faculty Research & Creative Works

We propose two energy efficient algorithms for locating a target object moving in an area covered by a wireless ad hoc network. The first algorithm developed conserve energy by efficiently identifying sensor nodes, as Home Nodes, and use only local messages between neighboring nodes to follow the trail of the object. Since we avoid the long-range transmission and maximize the localization, the algorithms reduce the communication cost. The dynamic nature of the second algorithm exploits the predefined parameters such as the object velocity. Our algorithm represents query shipping against the conventional data shipping as a means to reduce the amount …

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Neural Network Based Decentralized Excitation Control Of Large Scale Power Systems, Wenxin Liu, Ganesh K. Venayagamoorthy, Donald C. Wunsch, David A. Cartes, Jagannathan Sarangapani Jul 2006

Neural Network Based Decentralized Excitation Control Of Large Scale Power Systems, Wenxin Liu, Ganesh K. Venayagamoorthy, Donald C. Wunsch, David A. Cartes, Jagannathan Sarangapani

Electrical and Computer Engineering Faculty Research & Creative Works

This paper presents a neural network (NN) based decentralized excitation controller design for large scale power systems. The proposed controller design considers not only the dynamics of generators but also the algebraic constraints of the power flow equations. The control signals are calculated using only local signals. The transient stability and the coordination of the subsystem controllers can be guaranteed. NNs are used to approximate the unknown/imprecise dynamics of the local power system and the interconnections. All signals in the closed loop system are guaranteed to be uniformly ultimately bounded (UUB). Simulation results with a 3-machine power system demonstrate the …

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Genetic Code Based Coding And Mathematical Formulation For Dna Computation, Mingjun Zhang, Maggie Xiaoyan Cheng, Tzyh-Jong Tarn Jun 2006

Genetic Code Based Coding And Mathematical Formulation For Dna Computation, Mingjun Zhang, Maggie Xiaoyan Cheng, Tzyh-Jong Tarn

Computer Science Faculty Research & Creative Works

DNA computation is to use DNA molecules for information storing and processing. Challenges currently faced by DNA computation are (1) lack of theoretical computational models for applications, and (2) high error rate for implementation. This paper attempts to address these problems from genetic coding and mathematical modeling aspects. The proposed genetic coding approach provides a promising alternative to reduce high error rate. The mathematical formulation lays down groundwork for studying theoretical aspects of DNA computation.

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Nanomanipulation Using Atomic Force Microscope With Drift Compensation, Qinmin Yang, Jagannathan Sarangapani Jun 2006

Nanomanipulation Using Atomic Force Microscope With Drift Compensation, Qinmin Yang, Jagannathan Sarangapani

Electrical and Computer Engineering Faculty Research & Creative Works

This paper proposes an atomic force microscope (AFM) based force controller to push nanoparticles on the substrates since it is tedious for human. A block phase correlation-based algorithm is embedded into the controller for compensating the thermal drift during nanomanipulation. Further, a neural network (NN) is employed to approximate the unknown nanoparticle and substrate contact dynamics including the roughness effects. Using the NN-based adaptive force controller the task of pushing nanoparticles is demonstrated. Finally, using the Lyapunov-based stability analysis, the uniform ultimately boundedness (UUB) of the closed-loop signals is demonstrated

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