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Mechatronics, IEEE/ASME Transactions on

Issue 1 • Date Feb. 2006

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  • Table of contents

    Publication Year: 2006 , Page(s): c1
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  • IEEE/ASME Transactions on Mechatronics publication information

    Publication Year: 2006 , Page(s): c2
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  • Navigability of multi-legged robots

    Publication Year: 2006 , Page(s): 1 - 8
    Cited by:  Papers (11)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (304 KB)  

    This paper addresses the improvement of navigability for a six-legged robot through the development of a simple method for measuring heading and drift errors. More specifically, the navigation scheme utilizes both a magnetic compass and landmark navigation to correct these errors with every step, hence limiting error propagation. The approach is aimed at operation in unknown environments. Elaborate data processing in the control algorithm is avoided by using modular sensors capable of processing their own inputs. The robot controller uses the well-known tripod gait, implemented here using the hexapod inverse kinematics. Experimental results show significant improvements in the hexapod's navigability for turning and walking maneuvers. View full abstract»

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  • Short seeking by multirate digital controllers for computation saving with initial value adjustment

    Publication Year: 2006 , Page(s): 9 - 16
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (256 KB) |  | HTML iconHTML  

    Multirate control has been proposed to reduce the real-time computation in hard disk drive (HDD) servo systems. It has been showed that computation can be saved greatly without performance degradation by using a multirate controller for track following. This paper proposes a novel method for short seeking control based on multirate track following control and initial value adjustment. This method, which uses the same multirate controller and the same servo structure as track following, adjusts the initial values of the track following controller for short seeking. Real-time computation is greatly saved in two aspects: 1) computation is saved by multirate scheme, and 2) initial value adjustment of the feedback controller makes the use of the feed-forward controller and reference trajectory unnecessary. Simulation and experimental results verify the effectiveness of the proposed method. View full abstract»

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  • Gearshift control for automated manual transmissions

    Publication Year: 2006 , Page(s): 17 - 26
    Cited by:  Papers (39)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (384 KB) |  | HTML iconHTML  

    A gearshift control strategy for modern automated manual transmissions (AMTs) with dry clutches is proposed. The controller is designed through a hierarchical approach by discriminating among five different AMT operating phases: engaged, slipping-opening, synchronization, go-to-slipping, and slipping-closing. The control schemes consist of decoupled and cascaded feedback loops based on measurements of engine speed, clutch speed, and throwout bearing position, and on estimation of the transmitted torque. Models of driveline, dry clutch, and controlled actuator are estimated on experimental data of a medium size gasoline car and used to check through simulations the effectiveness of the proposed controller. View full abstract»

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  • Toward switching motor control

    Publication Year: 2006 , Page(s): 27 - 34
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (832 KB) |  | HTML iconHTML  

    Traditionally focused on applications where humans are safely out of reach, the field of robotics was developed to perform repetitive tasks with high precision and accuracy. In contrast, recent developments have opened up a new subfield of robotics in which users are in direct contact with robotic devices. This physical interaction requires the device to be sensitive to human contact while maintaining performance. While hardware designs have progressed to fill this new area, the underlying controller remains nearly the same as that developed for industrial robots decades ago, imposing limits on the performance of the overall system. To address the unique requirements of these human-interactive robotic devices, we are working to replace the traditional amplifier with a high-speed switching controller. Combining the simplicity and efficiency of pulsewidth modulation with the high bandwidth of linear amplifiers, this approach demonstrates performance gains when implemented as a closed-loop current controller. We also extend this design to the proposal of a third-order architecture to combine an amplifier and servo controller into an integrated system with the potential to overcome the fundamental limits of today's systems and enable the future of human-interactive robotics. View full abstract»

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  • Emulation of robots interacting with environment

    Publication Year: 2006 , Page(s): 35 - 46
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (344 KB)  

    In this paper, we present a methodology for emulation of a target robot operating in a complex environment by using an actual robot. The emulation scheme aims to replicate the dynamical behavior of the target robot interacting with an environment, without dealing with a complex calculation of the contact dynamics. This method forms a basis for the task verification of a flexible space robot. The actual emulating robot is structurally rigid, while the target robot can represent any class of robots, e.g., flexible, redundant, or space robots. Although the emulating robot is not dynamically equivalent to the target robot, the dynamical similarity can be achieved by using a control law developed herein. The effect of disturbances and actuator dynamics on the fidelity and the contact stability of the robot emulation is thoroughly analyzed. The concept of robot emulation is demonstrated by performing a number of preliminary experiments for emulation of flexible-joint robots. View full abstract»

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  • A real-time prediction model of electrode extension for GMAW

    Publication Year: 2006 , Page(s): 47 - 54
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (328 KB) |  | HTML iconHTML  

    This paper presents the development of an electrode extension model for the gas metal arc welding process based on the process voltage. The full dynamic model for the electrode extension is derived by combining a dynamic resistivity model with the voltage model. The electrode extension model was found to be represented mathematically by a nonlinear, time-varying, second-order ordinary differential equation. This model can be used in through-the-arc sensing and arc length control systems. To experimentally verify the model, the process dynamics were excited by a continuous sinusoidal variation of arc current. Using a constant current power source with the electrode positive, sinusoidal perturbations of variable amplitude were superimposed on the current to allow direct measurement of changes in electrode extension, arc length, and total voltage. A high-speed video system was used to capture the experimental electrode extension dynamics. The model was verified by comparing the frequency response of the model to the frequency response of the real process. Agreement between the simulations and the experimental results was found to be very good. The accuracy of this model was found to be approximately ±0.6 mm, which is considered to be suitable for process control applications. View full abstract»

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  • Design of learning input shaping technique for residual vibration suppression in an industrial robot

    Publication Year: 2006 , Page(s): 55 - 65
    Cited by:  Papers (25)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (312 KB) |  | HTML iconHTML  

    In this paper, a practical method is proposed to suppress residual vibrations of industrial robots without a real-time estimation of vibration frequencies. Through theoretical analysis and experiments, we designed an input shaping technique (IST) for the first three axes of a six-degrees-of-freedom industrial robot. Iterative learning IST (LIST) is applied to the first axis to suppress its time-varying nonlinear residual vibration, while conventional IST is applied to the second and third axes. Experimental results show that LIST can suppress residual vibrations to a level similar to that of a time-varying IST which requires complicated real-time estimation of a dynamic model. The LIST is an attractive method for suppression of nonlinear and time-varying residual vibrations in industrial robots which perform repetitive tasks because most industrial robots have limited computing power and memory space in their controllers. View full abstract»

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  • Investigation of the onset voltage for the design of a microfabricated colloid thruster

    Publication Year: 2006 , Page(s): 66 - 74
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (816 KB) |  | HTML iconHTML  

    Onset voltage plays a crucial role in the design of a microcolloid thruster. This paper presents a methodology to estimate the onset voltage for the design of a new microfabricated colloid thruster. The basic idea of this method is to simplify the source emitter and the extractor of the microthruster as two hyperboloids of two sheets of a set of equal potential surfaces. The maximum electric field between electrodes is modeled using the Lame´ method, on which a method to estimate the onset voltage is developed. To avoid the aberration of electric field caused by protuberances on the surface of the source emitter, the height of the source emitter must be much greater than that of protuberance. Experiments conducted on the homemade microcolloid thrusters, designed based on the proposed onset voltage estimation, verify the correctness of the approach. View full abstract»

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  • Active control to flexible manipulators

    Publication Year: 2006 , Page(s): 75 - 83
    Cited by:  Papers (13)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (272 KB) |  | HTML iconHTML  

    Active control law for flexible structures using nonlinear conventional motor with gear actuators has been a problem without an accepted solution with experimental evidence until now. This is due to the existence of a dead zone in torque caused by the nonlinear frictions inside the actuator. The torques needed to attenuate the vibrations, although calculated by the control law, are consumed by the frictions and do not arrive until the flexible structure. This work proposes a control strategy with friction compensation using neural networks to solve this problem. Experimental results obtained with a flexible manipulator attested to the excellent performance of the proposed control law. View full abstract»

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  • Inertial vibration control using a shunted electromagnetic transducer

    Publication Year: 2006 , Page(s): 84 - 92
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1208 KB) |  | HTML iconHTML  

    Inertial drives and passive tuned-mass dampers utilize a suspended mass to reduce the vibration experienced by a host structure. Active vibration control systems typically include a voice coil type electromagnetic actuator to develop the required reaction forces. In this paper, the technique of sensorless active shunt control is applied to inertial vibration absorption. An electrical impedance is designed and connected to an electromagnetic coil with a view to minimizing structural vibration. Standard optimal control tools can be applied to design the required shunt impedance. This technique requires no additional feedback sensors. Vibration in an experimental structure is heavily attenuated by the application of an active shunt impedance. View full abstract»

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  • HIFE-haptic interface for finger exercise

    Publication Year: 2006 , Page(s): 93 - 102
    Cited by:  Papers (25)  |  Patents (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (424 KB) |  | HTML iconHTML  

    A haptic device with two active degrees of freedom and a tendon-driven transmission system was designed, built, and tested. It was constructed as a mechanism with a small workspace that envelops a finger workspace and can generate forces up to 10 N, suitable for finger exercise. Kinematic and dynamic model equations of the haptic device are presented in the paper. The control strategies, the implementation of the application on a PC, the real-time millisecond-class control environment, running under the MS Widows operating system, and safety mechanisms are described. Also, the duration test for the maximum sustained output force, and validations of accuracy of the output force and the consistency of the followed path, were performed. The performance, accuracy, and safety of the device were found to be very good, which makes the device suitable for rehabilitation purposes. View full abstract»

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  • Adaptive electromagnetic shunt damping

    Publication Year: 2006 , Page(s): 103 - 108
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (280 KB) |  | HTML iconHTML  

    This paper presents a new type of passive vibration control: adaptive electromagnetic shunt damping. We propose a single-mode resonant shunt controller that adapts to environmental conditions using two different adaptation strategies. The first technique is based on minimizing the root mean square (RMS) vibration, while the second minimizes the phase difference between two measurable signals. An experimental comparison shows that relative phase adaptation performs better than the RMS technique. View full abstract»

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  • Kinematic and dynamic models of a tripod system with a passive leg

    Publication Year: 2006 , Page(s): 108 - 111
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1256 KB) |  | HTML iconHTML  

    In this paper, a new tripod system is proposed for the light-metal machining application, and its kinematic and dynamic models are studied. The new tripod system is a type of parallel kinematic machine with three degrees of freedom, and it uses a passive leg to increase system stiffness and eliminate the undesired end-effector motion along some axes. Both the direct and inverse kinematic problems are solved, and the dynamic problem is modeled by applying the Newton-Euler approach. A case study is provided to validate the kinematic and dynamic models and illustrate this new tripod design. View full abstract»

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  • List of Reviewers for 2005

    Publication Year: 2006 , Page(s): 113
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    Publication Year: 2006 , Page(s): 114
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  • IEEE copyright form

    Publication Year: 2006 , Page(s): 115 - 116
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  • IEEE/ASME Transactions on Mechatronics Information for authors

    Publication Year: 2006 , Page(s): c3
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  • Blank page [back cover]

    Publication Year: 2006 , 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.

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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