Now showing items 1-20 of 134

    • Adaptive Command Shaping Using Adaptive Filter Approach in Time Domain 

      Rhim, Sungsoo; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1999-06)
      Since its introduction, the command shaping method has been applied to the control of many different types of flexible manipulators. A properly designed command shaper cancels the resonance poles of the system regardless ...
    • Adaptive impedance control for bilateral teleoperation of long reach flexible manipulators 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyPublished for the International Federation of Automatic Control by Elsevier, 1996-07)
      Current applications in the field of telerobotics, such as space based assembly and nuclear waste remediation, require the use of long reach manipulators. These robots are characterized by their large workspace and reduced ...
    • Alternative Modeling and Verification Techniques for a Large Flexible Arm 

      Huggins, James D.; Kwon, Dong-Soo; Lee, Jae Weon; Book, Wayne John (Georgia Institute of Technology, 1987-06)
    • Alternatives in the generation of time domain models of fluid lines using frequency domain techniques 

      Watson, Cody; Book, Wayne John (Georgia Institute of TechnologyElsevier, 2000-02)
      By converting from frequency domain models to time domain models, nonlinear behavior and linear distributed behavior can both be effectively represented. Three methods are presented to convert fluid line models from the ...
    • Analysis of massless elastic chains with servo controlled joints 

      Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1978-12)
      The lumping approximation used frequently for dynamic analysis of distributed parameter systems is facilitated for a class of flexible systems by a technique using 4- X 4- coordinate transformation matrices to account for ...
    • Analysis of Milling Forces via Angular Convolution 

      Wang, J. - J. Junz; Liang, Steven Y.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1991)
      The measurement of cutting force systems is one of the most frequently used techniques for the monitoring of machining processes. Its wide spread application ranges from tool condition identification, feedback control, ...
    • An interactive simulation for a fluid-powered legged search and rescue robot 

      Book, Wayne John; Daepp, Hannes G.; Kim, Ta Y.; Radecki, Peter P. (Georgia Institute of Technology, 2010-07)
      A pneumatically actuated search and rescue quadrapedal robot is presented as a system with potentially enhanced versatility relative to existing rescue robots. The usage of fluid powered actuation, combined with tele-operation ...
    • The Application of Input Shaping to a System With Varying Parameters 

      Magee, David P.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1992)
      The original input shaping technique developed by Singer and Seering is summarized and a different definition for residual vibration is proposed. The new definition gives better insight into the ability of input shaping ...
    • An approach to the minimum time control of a simple flexible arm 

      Book, Wayne John; Sangveraphunsiri, Viboon (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1983-11)
      To enable faster robot arm motion one might reduce the arm weight and use a minimum time control. Light arms will be flexible. A simple example of a light arm is a single beam, rotating about one end, and subject to bending. ...
    • Artificial neural network control of a nonminimum phase, single-flexible-link 

      Register, Andrew H.; Alford, Cecil Orie; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1996-04)
      A single-link flexible manipulator with a rotary actuator at one end and a mass at the other is modeled using the Lagrangian method coupled with an assumed modes vibration model. A SIMO state space model is developed by ...
    • Auto-Calibration Based Control for Independent Metering of Hydraulic Actuators 

      Opdenbosch, Patrick; Sadegh, Nader; Enes, Aaron R.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-05)
      This paper describes a novel auto-calibration state-trajectory-based control method and its application to electronic flow control for independent metering systems. In this paper, the independent metering architecture that ...
    • Automated garment manufacturing system using novel sensing and actuation 

      Book, Wayne John; Winck, Ryder C.; Killpack, Marc D.; Huggins, James D.; Dickerson, Stephen L.; Jayaraman, Sundaresan; Collins, Thomas R.; Prado, Ronald J. (Georgia Institute of Technology, 2010-07)
      Attempts to automate the sewing process of garment manufacture have employed substitutes for human guidance of fabric into somewhat conventional sewing machines. A new approach has been proposed and partially verified in ...
    • Biodynamic Feedthrough Compensation and Experimental Results Using a Backhoe 

      Heather C. Humphreys; Book, Wayne John; Huggins, James D. (Georgia Institute of Technology, 2011-03)
      In some operator-controlled machines, motion of the controlled machine excites motion of the human operator, which is fed back into the control device, causing unwanted input and sometimes instability; this phenomenon is ...
    • Blended Shared Control of Zermelo's Navigation Problem 

      Enes, Aaron R.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010)
      Many machines–from hydraulic excavators to mobile wheelchairs–are manually controlled by a human operator. In practice, the operator assumes responsibility for completing a given task at maximum utility, even though the ...
    • The Bracing Strategy for Robot Operation 

      Book, Wayne John; Sangveraphunsiri, Viboon; Le, Sanh (Georgia Institute of TechnologyMIT Press, 1984-06)
      A new strategy of robot operation, the bracing strategy, is presented. Under this strategy an arm is moved into position then rigidized by bracing against either the work piece or an auxiliary, static structure. Subsequent ...
    • A Closed Form Frequency Domain Model for Tangential Cutting Force in Peripheral Milling 

      Wang, J. - J. Junz; Liang, Steven Y.; Book, Wayne John (Georgia Institute of TechnologyThe Mineral, Metals, and Material Society, 1992)
      An approach to develop a closed form frequency domain model for the tangential cutting force and torque is presented for peripheral milling processes. Based on a mechanistic local cutting force model, the total tangential ...
    • Combined approaches to lightweight arm utilization 

      Book, Wayne John; Dickerson, Stephen L.; Hastings, Gordon Greene; Cetinkunt, Sabri; Alberts, Thomas Edward (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1985-11)
      In order to use lightweight arms the combination of a number of new approaches in arm design and control may be necessary. This paper describes four complimentary research efforts and how their results will work together. ...
    • Combined Command Shaping and Inertial Damping for Flexure Control 

      Magee, David P.; Cannon, David W.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1997-06)
      This paper describes a new control approach that combines command shaping and inertial damping to control small robots that are attached to the end of a flexible manipulator. The command shaping guarantees that the ...
    • Combining a multirate repetitive learning controller with command shaping for improved flexible manipulator control 

      Rhim, Sungsoo; Hu, Ai-Ping; Sadegh, Nader; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1999-11)
      Command shaping, a feedforward approach used to control flexible manipulators, performs most effectively when applied to a linear system. In practice, various nonlinearities are present in a given system that will deteriorate ...
    • Combining Research and Precision in Robotic Device 

      Book, Wayne John; Wang, J. - J. (Georgia Institute of Technology, 1990-03)
      The bracing strategy has been proposed in various forms as a way to improve the combination of reach and precision in robotic devices. One version of the strategy employs independent stages of motion. The first stage, ...