Preface; Contents; 1 Kinematic and Workspace-Based Synthesis of a 2-DOF Mechanism for Haptic Applications; Abstract; 1emspIntroduction; 2emspMechanism Description; 3emspMechanism Kinematics; 4emspMechanism Synthesis by Workspace Analysis; 5emspPrototype; 6emspConclusions; Acknowledgments; References; 2 Fuzzy Logic Control on FPGA for Solar Tracking System; Abstract; 1emspIntroduction; 2emspFuzzy Logic System; 2.1 Fuzzification; 2.2 Rules; 2.3 Inference; 2.4 Aggregation; 2.5 Defuzzification; 2.6 Experimental and Simulated Results; 3emspConclusions; References

3 Dynamic Balancing of a Nutating Planetary Bevel Gear TrainAbstract; 1emspIntroduction; 2emspGeometry and Kinematics; 3emspDynamics; 4emspMultibody Simulations; 5emspDiscussion About a Balancing Geometry; References; 4 Output Stabilization of Linear Systems with Disturbances; Abstract; 1emspIntroduction; 2emspProblem Formulation; 3emspOutput Stabilization; 3.1 Preliminary Results; 3.2 Control Design; 4emspExample: Control Regulation of a Boeing 767; 5emspConclusions; Acknowledgments; A.x(118). Appendix: Weakly Unobservable Subspace; References

5 Development of a Heliostat for a Solar Tower Power PlantAbstract; 1emspIntroduction; 1.1 Solar Tower Plants; 2emspHeliostat Design; 2.1 Modularity; 3emspAzimuth Mechanism; 4emspElevation Mechanism; 5emspFinite Element Method Analysis; 6emspConclusions; Acknowledgments; References; 6 Mechatronic Sizing of Ball-Screw Feed Drives; Abstract; 1emspIntroduction; 2emspProposed Mechatronic Procedure; 3emspExample; 3.1 Machine Duty Cycle; 3.2 Screw Selection and Verification; 3.3 Motor Selection; 3.4 Control Strategy; 3.5 System Dynamics with Natural Modes of Vibrations

3.6 Controller Tuning and Stability Analysis3.7 Trajectory Tracking; 3.8 Optimal Selection; 4emspConclusions; References; 7 Behavior of the Robot with Vibratory Excitation; Abstract; 1emspIntroduction; 2emspDescription of the Vibratory Robot; 3emspFirst Model and Its Behavior; 4emspSecond Model and Its Behavior; 5emspConclusions; References; 8 Attitude Determination System Based on Vector Observations for Satellites Experiencing Sun-Eclipse Phases; Abstract; 1emspIntroduction; 2emspSystem Model; 3emspGauss-Newton and EKF Equations; 3.1 Gauss-Newton Method; 3.2 Extended Kalman Filter

4emspGauss-Newton and EKF Based Attitude Determination System4.1 EKF Innovation Process in Sun Phase; 4.2 EKF Innovation Process in Eclipse Phase EKF; 5emspNumerical Simulations; 6emspConclusion; References; 9 Nonlinear Identification of Inverted Pendulum System Using Volterra Polynomials; Abstract; 1emspIntroduction; 2emspMethodology; 2.1 Inverted Pendulum System: Mathematical Model; 2.1.1 Dynamics of Inverted Pendulum System; 2.1.2 Modelling of the Mechanical System for the DC Motor; 2.2 Nonlinear Modelling by VPBF Networks; 2.3 Experiment Description; 3emspResults; 4emspConclusions