Skyhook surface sliding mode control on semi-active vehicle suspension systems for ride comfort enhancement

A skyhook surface sliding mode control method was proposed and applied to the control on the semi-active vehicle suspension system for its ride comfort enhancement. A two degree of freedom dynamic model of a vehicle semi-active suspension system was given, which focused on the passenger’s ride comfort perform-ance. A simulation with the given initial conditions has been devised in MATLAB/SIMULINK. The simula-tion results were showing that there was an enhanced level of ride comfort for the vehicle semi-active sus-pension system with the skyhook surface sliding mode controller

Painlev\'e V and time dependent Jacobi polynomials

In this paper we study the simplest deformation on a sequence of orthogonal polynomials, namely, replacing the original (or reference) weight $w_0(x)$ defined on an interval by $w_0(x)e^{-tx}.$ It is a well-known fact that under such a deformation the recurrence coefficients denoted as $\alpha_n$ and $\beta_n$ evolve in $t$ according to the Toda equations, giving rise to the time dependent orthogonal polynomials, using Sogo's terminology. The resulting "time-dependent" Jacobi polynomials satisfy a linear second order ode. We will show that the coefficients of this ode are intimately related to a particular Painlev\'e V. In addition, we show that the coefficient of $z^{n-1}$ of the monic orthogonal polynomials associated with the "time-dependent" Jacobi weight, satisfies, up to a translation in $t,$ the Jimbo-Miwa $\sigma$-form of the same $P_{V};$ while a recurrence coefficient $\alpha_n(t),$ is up to a translation in $t$ and a linear fractional transformation $P_{V}(\alpha^2/2,-\beta^2/2, 2n+1+\alpha+\beta,-1/2).$ These results are found from combining a pair of non-linear difference equations and a pair of Toda equations. This will in turn allow us to show that a certain Fredholm determinant related to a class of Toeplitz plus Hankel operators has a connection to a Painlev\'e equation

Intelligent manipulation technique for multi-branch robotic systems

New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system