Kinematic modelling and position control of a 3-DOF parallel stabilizing robot manipulator

This paper focuses on investigating a parallel camera stabilizing manipulator with three angular degrees of freedom controlled by three linear actuators. An experimental setup is designed and manufactured to actively isolate the host vehicle's disturbing motions. The kinematic analysis of the manipulator combined with a controller is used to disturbance rejection coming from the base platform. Two inertia measurement units (IMU) are used for real-time feedback from the base and up-per platforms' orientation. A Kalman filter is implemented for handling the noises and drifts of the IMUs data. Inverse kinematics of the manipulator is used for calculating the actuating commands and velocity control of the linear motors. The experimental results of the proposed camera stabilizing system are shown. The results indicate its good capability in following the reference input of the controller. Considering the closed kinematic chain of the system and its stiff parallel architecture, this system can be a good choice for the stabilizing system of ground and aerial vehicles

A Chaotic System with Infinite Number of Equilibria Located on an Exponential Curve and Its Chaos-Based Engineering Application

This paper proposes a novel chaotic system with infinite number of equilibria located on an exponential curve. It signifies an exciting category of dynamical systems which display many features of regular and chaotic motions. The proposed chaotic system belongs to the general category of chaotic systems with hidden attractors. Moreover, some theoretical analyses of the chaotic system's dynamical characteristics are presented. Using the developed chaotic system, the new random number generator and encryption algorithm have been designed. Encryption application and security analysis are presented verifying its feasibility