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Mechatronics, IEEE/ASME Transactions on

Issue 4 • Date Dec. 2004

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  • Table of contents

    Publication Year: 2004 , Page(s): c1
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  • IEEE/ASME Transactions on Mechatronics publication information

    Publication Year: 2004 , Page(s): c2
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  • Modeling and control of steering system of heavy vehicles for automated highway systems

    Publication Year: 2004 , Page(s): 609 - 618
    Cited by:  Papers (9)  |  Patents (1)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (769 KB) |  | HTML iconHTML  

    This work presents modeling, analysis, and controller design of the steering subsystem of heavy vehicles as a subsystem of vehicle lateral control system for the automated highway systems. A physical model of the steering subsystem is derived where the hydraulic power assist unit is modeled as a family of static nonlinear boost curves. Based on open-loop frequency tests and analysis of the physica... View full abstract»

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  • Adaptive time-delay command shaping filter for flexible manipulator control

    Publication Year: 2004 , Page(s): 619 - 626
    Cited by:  Papers (19)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (756 KB) |  | HTML iconHTML  

    We introduce a new formulation of the time-delay command shaping filter using a commuted shaping order approach, which leads to the development of a simple and effective adaptive command shaping technique for both single- and multi-mode cases. The authors derived the conditions that the time-delay command shaping filter should satisfy to suppress the residual vibration. From the conditions, they c... View full abstract»

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  • Control system for the waterjet cutting Machine

    Publication Year: 2004 , Page(s): 627 - 635
    Cited by:  Papers (5)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (898 KB) |  | HTML iconHTML  

    This paper addresses the field of factory automation within the scope of machine control. It presents the control system for a waterjet cutting machine. It involves a PC based computer numerical control (CNC) controller that has been built on a QNX real-time (RT) operating system platform. Microsoft Windows, which is a commonly accepted graphical user interface environment, serves as a human machi... View full abstract»

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  • Mixed-objective optimization of a track-following controller using linear matrix inequalities

    Publication Year: 2004 , Page(s): 636 - 643
    Cited by:  Papers (5)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (507 KB) |  | HTML iconHTML  

    This work describes a design method for track-following controllers in data storage drives using mixed-objective optimization. Stability and performance requirements on the track following controller are established using norm conditions, which are converted to linear matrix inequalities (LMIs). The minimization of the position error in the root-mean-square sense is shown to be an H2 no... View full abstract»

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  • Two-parameter robust repetitive control with application to a novel dual-stage actuator for noncircular Machining

    Publication Year: 2004 , Page(s): 644 - 652
    Cited by:  Papers (32)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (744 KB) |  | HTML iconHTML  

    This work presents a robust repetitive controller design for a novel dual-stage actuator system. The dual-stage actuator, which consists of an electrohydraulic actuator for 25-mm-gross motion and a piezoelectric actuator for 40-μm fine motion, is designed for noncircular machining application. The controller is designed through a sequence of two single-input-single-output (SISO) designs by expl... View full abstract»

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  • Performance analysis of a high-bandwidth torque disturbance compensator

    Publication Year: 2004 , Page(s): 653 - 660
    Cited by:  Papers (27)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (477 KB) |  | HTML iconHTML  

    Recent availability of encoder with millions of counts per revolution makes it possible to enlarge the bandwidth of the torque disturbance observer (TDO) equipping a servo drive. As a consequence, the TDO dynamics are no more decoupled from those of current and the behavior of the torque disturbance compensator (TDC) is influenced by the current dynamics as well as by the discrete-time implementat... View full abstract»

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  • Cooperative teleoperation of a multirobot system with force reflection via Internet

    Publication Year: 2004 , Page(s): 661 - 670
    Cited by:  Papers (21)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (1279 KB) |  | HTML iconHTML  

    With the rapid development of information technology, the Internet has evolved from a simple data-sharing media to an amazing information world where people can enjoy various services. Recently, the use of the Internet has been expanded to the field of automation, i.e., using the Internet as a tool to control equipment located at remote sites. This work presents a system that enables multiple oper... View full abstract»

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  • Mechatronic kite and camera rig to rapidly acquire, Process, and distribute aerial images

    Publication Year: 2004 , Page(s): 671 - 678
    Cited by:  Papers (7)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (3071 KB) |  | HTML iconHTML  

    Aerial images are challenging to acquire in times of a disaster. Conventional aircraft may not be able to takeoff and land due to crippled runways and airstrips. Time is often critical and delays incurred from scheduling a satellite fly-by may frustrate mitigation efforts. A system that can be easily transported to the disaster site and rapidly deployed would be an attractive alternative to aircra... View full abstract»

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  • Neural speed filtering for induction motors with anomalies and incipient faults

    Publication Year: 2004 , Page(s): 679 - 688
    Cited by:  Papers (4)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (413 KB) |  | HTML iconHTML  

    Effective sensorless speed estimation is desirable for both on-line condition monitoring and assessment, and for efficiency calculation of induction motors running off the power supply mains. In this paper, a sensorless neural adaptive speed filter is developed for induction motors operating under normal and anomalous conditions, such as supply imbalance, as well as incipient faults, such as elect... View full abstract»

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  • Robust adaptive control of sawyer motors without current measurements

    Publication Year: 2004 , Page(s): 689 - 696
    Cited by:  Papers (11)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (554 KB) |  | HTML iconHTML  

    We address nonlinear robust adaptive dynamic output feedback of voltage-fed dual-axis linear stepper (Sawyer) motors using a detailed motor model with electrical dynamics and significant uncertainties and disturbances. A coordinate transformation is proposed to decouple the model into three third-order subsystems along with an appended fifth-order subsystem. The controller utilizes only position a... View full abstract»

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  • Active damping of drive train oscillations for an electrically driven vehicle

    Publication Year: 2004 , Page(s): 697 - 700
    Cited by:  Papers (17)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (366 KB) |  | HTML iconHTML  

    A problem encountered with electrically driven vehicles are resonances in the drive train caused by elasticity and gear play. Disadvantageous effects caused by this are noticeable vibrations and high mechanical stresses due to torque oscillations. The oscillations can be damped using a control structure consisting of a nonlinear observer to estimate the torque in the gear and a controller, which c... View full abstract»

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  • Parameter identification and vibration control in Modular manipulators

    Publication Year: 2004 , Page(s): 700 - 705
    Cited by:  Papers (8)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (271 KB) |  | HTML iconHTML  

    The joint parameters of modular manipulators are prerequisite data for effective dynamic control. A method for identifying these parameters using fuzzy logic was devised to study modular redundant robots. Experimental modal analysis and finite element modeling were exploited to model the dynamics. The joint parameters of a nine degrees-of-freedom (9-DOF) modular robot have been identified. In addi... View full abstract»

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  • Disturbance observer based control for nonlinear systems

    Publication Year: 2004 , Page(s): 706 - 710
    Cited by:  Papers (94)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (179 KB) |  | HTML iconHTML  

    This work presents a general framework for nonlinear systems subject to disturbances using disturbance observer based control (DOBC) techniques. A two-stage design procedure to improve disturbance attenuation ability of current linear/nonlinear controllers is proposed where the disturbance observer design is separated from the controller design. To facilitate this concept, a nonlinear disturbance ... View full abstract»

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  • Utilization of information maximum for condition monitoring with applications in a Machining Process and a water pump

    Publication Year: 2004 , Page(s): 711 - 714
    Cited by:  Papers (6)
    Request Permissions | Click to expandAbstract | PDF file iconPDF (209 KB) |  | HTML iconHTML  

    This work presents a new method for the condition monitoring based on the so-called information maximum (InfoMax). First, the InfoMax concept is employed to build a neural network. The neural network is used for independent component analysis to identify the source (input) that causes malfunctions (output). To demonstrate the new method, two application examples were included. First, tool breakage... View full abstract»

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  • Erratum

    Publication Year: 2004 , Page(s): 714
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  • 2004 Index

    Publication Year: 2004 , Page(s): 715 - 724
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  • IEEE/ASME Transactions on Mechatronics Information for authors

    Publication Year: 2004 , Page(s): c3
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  • Blank page [back cover]

    Publication Year: 2004 , Page(s): c4
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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.

Full Aims & Scope

Meet Our Editors

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