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Mechatronics, IEEE/ASME Transactions on

Issue 5 • Date Oct. 2007

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Displaying Results 1 - 17 of 17
  • Table of contents

    Page(s): C1
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  • IEEE/ASME Transactions on Mechatronics publication information

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  • Guest Editorial Introduction to the Focused Section on Mechatronic and Embedded Systems and Applications

    Page(s): 509 - 510
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    The three papers in this focused section were originally presented at the 2006 IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA06), held in Beijing, China, from August 13 to August 16. View full abstract»

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  • Seat Belt Vibration as a Stimulating Device for Awakening Drivers

    Page(s): 511 - 518
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    This paper presents a safety driving system that uses a seat belt vibration as a stimulating device for awakening drivers. The vibration stimulus was composed of pulsation tension, which was applied by the seat belt motor retractor. Magnitude, duration, and repetition rate of the additional tension were the major parameters that determined the awakening effect of the stimulus. We constructed a driving simulator, which was able to induce driver's drowsiness. In the experiments using the driving simulator, the driver's drowsiness was detected by changes in the driver's eye movements measured by electrooculography (EOG) and/or changes in facial expression of the driver monitored by the examiners through a video camera, subjective evaluation, and lane deviation. Exerting additional tension of 130 N for 3 cycles at duration and interval of 100 ms was the most effective pattern for awakening the driver without causing discomfort. View full abstract»

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  • New Investigation in Energy Regeneration of Hydraulic Elevators

    Page(s): 519 - 526
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (739 KB) |  | HTML iconHTML  

    In the conventional valve-controlled hydraulic elevator, when the cabin moves downwards, the entire potential energy of the cabin is wasted and converted into fluid heat by throttling. Thus, the energy consumption of a traditional hydraulic elevator is much higher than that of the traction elevator. To reduce the energy consumption and power installation requirements, the energy-regenerative hydraulic elevators have been developed since 1997. In this paper, different generations of the design are discussed for energy-regenerative system; in particular, a new generation is focused on in detail. Experimental studies of this new design are carried out to compare the energy consumption of different system designs of hydraulic elevator. Finally, a conclusion is drawn that the new generation of hydraulic elevator can achieve a significant energy-saving performance compared to the traditional elevators. View full abstract»

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  • Improving the Positioning Accuracy of a Neurosurgical Robot System

    Page(s): 527 - 533
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    This paper discusses the overall positioning accuracy of a neurosurgical robot system. First, the overall positioning accuracy of the robot system is analyzed and formulated. Then, the efforts are focused on improving the positioning accuracy of the robot arm. A revised Denavit--Hartenberg (D-K) kinematic model is addressed to describe two nearly parallel joint axes for the calibration of the robot. The joint transmitting error of the robot is compensated by using a backpropagation (BP) neural network. Finally, the absolute positioning accuracy of the robot arm is measured. A phantom is designed to simulate the clinical workflow of the robot-assisted neurosurgery for measuring the overall positioning accuracy of the robot system. The results show that the positioning error of the robot arm is less than 1 mm, which is comparable to that of stereotactic frames; and that the overall positioning error of the robot system is caused mainly by target registration error, which proves the effectiveness of our efforts. View full abstract»

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  • Stable Walking Pattern for an SMA-Actuated Biped

    Page(s): 534 - 541
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (405 KB) |  | HTML iconHTML  

    In this paper, a walking pattern filter for shape-memory-alloy (SMA)-actuated biped robots is presented. SMAs are known for their high power-to-mass ratio as well as slow response. When used as actuators, the SMA speed limitation can potentially lead to stability problems for biped robots. The presented filter adapts the human motion such that an SMA biped robot maintains a stable walking pattern. The zero moment point (ZMP) is used as the main criterion of the filter to guarantee the stability of the motion. The SMA actuators are designed based on the dynamics and kinematics of the motion. The response time of each SMA actuator is modeled in order to estimate the behavior of the actuator in realizing the given trajectory. After applying the delay times to the motion, the new trajectories are generated and evaluated by the filter for the ZMP criterion. Using simulations, it is shown that the filter can generate smooth trajectories for the SMA-actuated biped robots. The filter furthermore guarantees the stability of a robot mimicking the human walking motion. View full abstract»

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  • A Nonlinear Method for Improving the Active Control Efficiency of Smart Structures Subjected to Rigid Body Motions

    Page(s): 542 - 548
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (600 KB) |  | HTML iconHTML  

    Smart components are commonly used for their compactness and ability to control the vibrations in an embedded flexible structure. Their relative actuation capabilities can limit the active control efficiency. This paper introduces a nonlinear method to improve their action using independent controllers for flexible modes and for rigid body modes. The nonlinear control of each flexible mode uses fuzzy logic controllers designed to improve the mechanical work of smart actuators by taking into account their actuation capabilities. The control law parameters are iteratively adjusted by taking into account the estimated disturbance levels until obtaining the desired compromise between efficiency and spillover. In addition, an independent fuzzy control for rigid body motions is then developed and adjusted in order to reduce the vibrations of the structure without decreasing the tracking efficiency. These two independent nonlinear strategies are described, implemented, and experimentally tested to control an articulated smart structure. View full abstract»

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  • Nonlinear Compensation of a New Noncontact Joystick Using the Universal Joint Mechanism

    Page(s): 549 - 556
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    This paper demonstrates a new noncontact electronic joystick using a single Hall sensor that detects a horizontal vector in the magnetic field. Furthermore, in this paper, the nonlinear characteristics between the output of the Hall sensor and the movement of the joystick bar are modeled and compensated to be linear. The dynamic horizontal vector of the magnetic flux is detected by the Hall sensor while a permanent magnet is rotated with the joystick bar, which has a 2-D detecting area. With the nonlinear modeling equations, the Hall sensor output became linear and accurate for the 2-D joystick movement. Through real experiments, it is shown that the single Hall sensor structure mechanism is superior to the dual sensor structure in sensing 2-D motion without offset. View full abstract»

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  • Experimental Comparison of Position Tracking Control Algorithms for Pneumatic Cylinder Actuators

    Page(s): 557 - 561
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (390 KB) |  | HTML iconHTML  

    Many researchers have investigated pneumatic servo positioning systems due to their numerous advantages: inexpensive, clean, safe, and high ratio of power to weight. However, the compressibility of the working medium, air, and the inherent nonlinearity of the system continue to make achieving accurate position control a challenging problem. In this paper, two control algorithms are designed for the position tracking problem and their experimental performance is compared for a pneumatic cylinder actuator. The first algorithm is sliding-mode control based on a linearized plant model (SMCL) and the second is sliding-mode control based on a nonlinear plant model (SMCN). Extensive experiments using different payloads (1.9, 5.8, and 10.8 kg), vertical and horizontal movements, and move sizes from 3 to 250 mm were conducted. Averaged over 70 experiments with various operating conditions, the tracking error for SMCN was 18% less than with SMCL. For a 5.8-kg payload and a 0.5-Hz 70-mm amplitude, sine wave reference trajectory, the root-mean-square error with SMCN was less than 0.4 mm for both vertical and horizontal motions. This tracking control performance is better than those previously reported for similar systems. View full abstract»

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  • Industrial Applications of Online Machining Process Monitoring System

    Page(s): 561 - 564
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (635 KB) |  | HTML iconHTML  

    An online machining process monitoring system has been constructed by taking advantage of the new achievements in data acquisition, sensor technology, and signal processing. Firstly, the architecture of monitoring system with the capability of automatic online acquisition, presentation, and analysis sensory signals is designed. Secondly, wavelet transform is further explored to decompose sensory signals into static and dynamic components for the purpose of extracting distinctive features associated with different tool malfunctions. Thirdly, by conjunction with the wavelet transform, univariate and multivariate statistical process monitoring techniques are proposed to construct the thresholds of malfunction-free machining zone. Short time Fourier transform is further introduced to detect the onset of chattering in machining processes. Finally, the effectiveness of the developed techniques and monitoring system has been demonstrated by experimental results obtained from the extensive industrial machining trials. View full abstract»

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  • Development of a Cyclogyro-Based Flying Robot With Variable Attack Angle Mechanisms

    Page(s): 565 - 570
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    This paper presents an experimental study on the development of a cyclogyro-based flying robot with a new variable angle of attack mechanism. A cyclogyro is a flying machine supported in the air by power-driven rotors that rotate about a horizontal axis, like the paddle-wheels of a steamboat. Machines of this type have been designed by some companies but there has been no record of any successful flights. Our design starts with a new variable angle of attack mechanism with an eccentric (rotational) point in addition to a rotational point connecting to a motor. The main feature of the mechanism with the eccentric rotational point is the ability to change attack of angles in accordance with the wing positions (as determined by the rotational angles of the cyclogyro) without actuators. The design parameters (wing span, the number of wings, and eccentric distance) of the flying robot are determined through a series of experiments. Experimental results show that the cyclogyro-based flying robot with the new variable angle of attack mechanism is capable of generating sufficient lift force for flying. View full abstract»

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  • Computationally Efficient Predictive Robot Control

    Page(s): 570 - 578
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    Conventional linear controllers (PID) are not really suitable for the control of robot manipulators due to the highly nonlinear behavior of the latter. Over the last decades, several control methods have been proposed to circumvent this limitation. This paper presents an approach to the control of manipulators using a computationally-efficient-model-based predictive control scheme. First, a general predictive control law is derived for position tracking and velocity control, taking into account the dynamic model of the robot, the prediction and control horizons, and also the constraints. However, the main contribution of this paper is the derivation of an analytical expression for the optimal control to be applied that does not involve a numerical procedure, as opposed to most predictive control schemes. In the last part of the paper, the effectiveness of the approach for the control of a nonlinear plant is illustrated using a direct-drive pendulum, and then, the approach is validated and compared to a PID controller using an experimental implementation on a 6-DOF cable-driven parallel manipulator. View full abstract»

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  • In this issue - Technically

    Page(s): 579
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  • Order form for reprints

    Page(s): 580
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  • IEEE/ASME Transactions on Mechatronics Information for authors

    Page(s): C3
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  • Blank page [back cover]

    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