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Mechatronics, IEEE/ASME Transactions on

Issue 2 • Date June 1997

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Displaying Results 1 - 9 of 9
  • Guest Editorial

    Page(s): 62
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    Freely Available from IEEE
  • High-performance robust motion control of machine tools: an adaptive robust control approach and comparative experiments

    Page(s): 63 - 76
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    This paper studies the high-performance robust motion control of machine tools. The newly proposed adaptive robust control (ARC) is applied to make the resulting closed-loop system robust to model uncertainties, instead of the disturbance observer (DOB) design previously tested by many researchers. Compared to DOB, the proposed ARC has a better tracking performance and transient in the presence of discontinuous disturbances, such as Coulomb friction, and it is of a lower order. As a result, time-consuming and costly rigorous friction identification and compensation is alleviated, and overall tracking performance is improved. The ARC design can also handle large parameter variations and is flexible in introducing extra nonlinear robust control terms and parameter adaptations to further improve the transient response and tracking performance. An anti-integration windup mechanism is inherently built in the ARC and, thus, the problem of control saturation is alleviated. Extensive comparative experimental tests are performed, and the results show the improved performance of the proposed ARC. View full abstract»

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  • Reducing the manufacturing costs associated with hard disk drives-a new disturbance rejection control scheme

    Page(s): 77 - 85
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    A new disturbance rejection control scheme is developed for cost-effective hard disk drive manufacturing. The proposed disturbance rejection controller is capable of attenuating both repeatable disturbances and nonrepeatable disturbances, which are two of the major detractors to hard disk drive quality and performance. The control scheme overcomes the drawback of typical internal-model-based repetitive control schemes which cancel repeatable disturbances, but amplify disturbances at other frequencies. This is achieved by a systematic combination of the internal-model-based repetitive controller with a loop shaping filter. It is shown that the internal-model-based repetitive controller is a special case of the proposed controller. Robustness of the controller is also studied. Simulations using disturbances reconstructed from actual drive level position error signal (PES) measurements have been carried out to show the effectiveness of this control scheme. View full abstract»

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  • An innovative machine for automated cutting of fish

    Page(s): 86 - 98
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    The "Iron Butcher", which is commonly used in the fish-processing industry for head cutting of fish, is known to be inefficient and wasteful, and the resulting product quality may be unacceptable for high-end markets. This paper describes an innovative machine for fish cutting that has been developed by us, employing advanced sensor technology, improved control techniques, and properly designed and integrated components. The new machine eliminates many of the drawbacks of the "Iron Butcher". The components of the machine, their design, and selection are described. Integration of the components, and development and operation of the overall system are presented. An economic analysis is given, in order to indicate the cost advantages of the new machine in comparison with the "Iron Butcher". View full abstract»

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  • A biomechatronic fluid-sample-handling system for DNA processing

    Page(s): 99 - 109
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    An automated biomechatronic small fluid sample preparation system for deoxyribonucleic acid (DNA) processing has been developed in the Genomation Laboratory of the Department of Electrical Engineering, University of Washington, Seattle, WA. The system automates steps necessary to prepare DNA for sequencing, using sample volumes ten times smaller than the current state-of-the-art manual and automated instrumentation. This will significantly reduce the time and cost of DNA sequencing and will help the Human Genome Project meet its goal of determining all three billion bases of human DNA sequence by the year 2005. The biomechatronic system comprising electromagnetic actuators, piezoceramic actuators, pneumatic pumps, linear mechanisms, thermal controllers, optical sensors, electronics, computer control, and software is described in detail. Successful experimental results, including restriction enzyme digests and polymerase chain reactions (PCRs) performed with this novel system, are presented. View full abstract»

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  • High-speed and high-precision motion control with an optimal hybrid feedforward controller

    Page(s): 110 - 122
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    An optimal feedforward controller which makes a hybrid usage of the shift (q) and delta (δ) operators is proposed for high-speed and high-precision digital motion control systems. Uncancellable discrete-time zeros arising from sampling the continuous-time plant at high rates, which make the mathematical inverse unstable, are handled in a natural way. The controller is optimized to have good performance in both low and high frequency ranges, and it is able to handle uncancellable discrete-time zeros in the right half plane. The optimization problem is generalized to an H problem. Convex minimization is used to find the solution to the optimization problem. Simulation results and experiments carried out on an MC-510V Matsuura vertical machining center show superior performance of the proposed optimal hybrid feedforward controller. View full abstract»

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  • Dynamic testing of switched reluctance motors for high-bandwidth actuator applications

    Page(s): 123 - 135
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    This paper examines the testing and assessment of high-bandwidth switched reluctance motor torque control for actuator and motion control applications. It is claimed that the torque control is sufficiently fast and accurate and that it does not, in itself, impose any significant limits on the performance of the overall system. To provide proof of concept, an experimental test rig that emulates a motion control application has been designed and built. The quality of torque control permitted the design of conventional velocity and position control loops in a transparent fashion. The paper reports high-performance motion control, in particular, four-quadrant operation, high-bandwidth speed and position control, low- and zero-speed operation in the presence of a load torque, and trapezoidal profiled motion have all been demonstrated through extensive experimental tests. View full abstract»

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  • Applications of real-time median filtering with fast digital and analog sorters

    Page(s): 136 - 143
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    This paper explores applications of digital and analog hardware realizations of median filters suitable for potential use in real-time control and monitoring applications in power electronic circuits and drives. Median filters have the ability to suppress impulse noise in signals, while preserving underlying edges. Filter performance is demonstrated with results from two prototypes. View full abstract»

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  • Development of a novel image sensor and its application to analysis of automobile components

    Page(s): 144 - 150
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    The authors have developed a novel image sensor for continuous conditioned monitoring of high-precision tolerances of a complex automotive product. A novel mechanooptical arrangement has been designed and validated to capture the images/silhouettes of the components as input into a neural network designed on approximate reasoning architecture. The design is extensible to handle a large number of rules, and the speed of inference is almost independent of the number of rules. View full abstract»

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Aims & Scope

IEEE/ASME Transactions on Mechatronics encompasses all practical aspects of the theory and methods of mechatronics, the synergetic integration of mechanical engineering with electronic and intelligent computer control in the design and manufacture of industrial products and processes.

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Meet Our Editors

Editor-in-Chief
Okyay Kaynak
Department of Electrical and Electronic Engineering
Bogazici University
34342 Istanbul, Turkey
okyay.kaynak@boun.edu.tr