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We demonstrate nonlinear coupling in a discrete optical system. This is achieved in waveguide arrays with quadratic nonlinearity, where the symmetries of the nonlinearly interacting waveguide modes are used to suppress the usually dominating nonlinear effects within individual waveguides. We derive a mathematical model to describe the nonlinear coupling in such waveguide arrays and show experimentally the profound effects of this nonlinear coupling mechanism on second-harmonic generation.
Modeling, identification and control of an antagonistically actuated joint for telerobotic systems
(2015)
Within this paper a modeling, identification and control technique for an antagonistically actuated joint consisting of two pneumatically actuated muscles is presented. The antagonistically actuated joint acts as a test bench for control architectures which are going to be used to control an exoskeleton within a telerobotic system. A static and dynamic model of the muscle and the joint is derived and the parameters of the models are identified using a least-squares algorithm. The control architecture, consisting of a inner pressure and an outer position controller is presented. The pressure controller is evaluated using switching valves compared against proportional valves.