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Mechatronics, IEEE/ASME Transactions on

Issue 2 • Date April 2008

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Displaying Results 1 - 18 of 18
  • Table of contents

    Publication Year: 2008 , Page(s): C1
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  • IEEE/ASME Transactions on Mechatronics publication information

    Publication Year: 2008 , Page(s): C2
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  • A Self-Optimizing Control System for Hard Rock Percussive Drilling

    Publication Year: 2008 , Page(s): 153 - 157
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (267 KB) |  | HTML iconHTML  

    The derivation and application of a self-optimizing control system for percussive drilling of hard rock is presented. The control system superimposes an oscillating force signal onto the drill feed force and demodulates the signal from the drill rotational torque. The resultant demodulated signal is then used to control the drill, allowing real-time maximization of penetration rate, minimum hole deviation, and measurement of rock characteristics regardless of drilling conditions. The control system allows the drill to adapt to changing rock conditions. Testing has proven the control to be reliable and to increase drilling efficiency. View full abstract»

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  • Development and Experimental Analysis of a Soft Compliant Tactile Microsensor for Anthropomorphic Artificial Hand

    Publication Year: 2008 , Page(s): 158 - 168
    Cited by:  Papers (39)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (507 KB) |  | HTML iconHTML  

    This paper presents the development and preliminary experimental analysis of a soft compliant tactile microsensor (SCTM) with minimum thickness of 2 mm. A high shear sensitive triaxial force microsensor was embedded in a soft, compliant, flexible packaging. The performance of the whole system, including the SCTM, an electronic hardware and a processing algorithm, was evaluated by static calibration, maximum load tests, noise and dynamic tests, and by focusing on slippage experiments. A proper tradeoff between final robustness and sensitivity of the tactile device was identified. The experiments showed that the tactile sensor is sufficiently robust for application in artificial hands while sensitive enough for slip event detection. The sensor signals were elaborated with the cumulative summation algorithm and the results showed that the SCTM system could detect a slip event with a delay from a minimum of 24.5 ms to a maximum of 44 ms in the majority of experiments fulfilling the neurophysiological requirement. View full abstract»

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  • Design and Fabrication of a Motor Legged Capsule for the Active Exploration of the Gastrointestinal Tract

    Publication Year: 2008 , Page(s): 169 - 179
    Cited by:  Papers (47)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (622 KB) |  | HTML iconHTML  

    This paper describes a novel solution for the active locomotion of a miniaturized endoscopic capsule in the gastrointestinal (GI) tract. In particular, the authors present the design, development, and testing of a legged locomotion system embedded in a capsule (with a volume of about 4-5 cm3) and actuated by a brushless minimotor. The actuation mechanism and transmission mechanism are described in detail in order to highlight the compactness of the overall design. This device is provided with four superelastic legs, allowing large stroke advancement in the GI tract, and a CMOS frontal camera, for diagnostic purposes. A dedicated electronic board for controlling the opening angle of the legs and adjusting their speed has been developed. In order to investigate the motion ability of the device, a set of experiments has been carried out. Four different types of superelastic legs have been designed and tested with the objective to identify the best leg configuration for capsule locomotion. Experimental results demonstrate that the device can travel in the digestive tract with a typical speed ranging between 10 and 40 mm/min. View full abstract»

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  • Precise Tip Positioning of a Flexible Manipulator Using Resonant Control

    Publication Year: 2008 , Page(s): 180 - 186
    Cited by:  Papers (19)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (459 KB) |  | HTML iconHTML  

    A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This flexible manipulator is modeled as an SIMO system with the motor torque as the input and the hub angle and the tip position as the outputs. The two transfer functions are identified using a frequency-domain system identification method, and the resonant modes are determined. A feedback loop around the hub angle response with a resonant controller is designed to damp the resonant modes. A high-gain integral controller is also implemented to achieve zero steady-state error in the tip position response. Experiments are performed to demonstrate the effectiveness of the proposed control scheme. View full abstract»

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  • Response Characterization of Electroactive Polymers as Mechanical Sensors

    Publication Year: 2008 , Page(s): 187 - 196
    Cited by:  Papers (20)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1602 KB) |  | HTML iconHTML  

    The characterization of the dynamic response (including transfer function identification) of trilayer polypyrrole (PPy) type conducting polymer sensors is presented. The sensor was built like a cantilever beam with the free end stimulated through a mechanical lever system, which provided displacement inputs. The voltage generated and current passing between the two outer PPy layers as a result of the input was measured to model the output/input behavior of the sensors based on their experimental current/displacement and voltage/displacement frequency responses. We specifically targeted the low-frequency behavior of the sensor as it is a relatively slow system. Experimental transfer function models were generated and verified experimentally for sensors with different dimensions. The models can be used to understand the dynamic behavior and sensing ability of the polymers as mechanical sensors. The effect of the active sensor length on the voltage and current outputs has demonstrated that the shorter is the sensor length, the higher are the voltage output and the current passed for the same mechanical input. Also, their current and voltage responses under an impulse displacement stimulus were experimentally measured to show their dynamic sensing response and to estimate the current and voltage sensing bandwidths. Further, an energy balance method has been proposed to estimate the sensor output. Based on the novel experimental and analytical results, the contribution of this study is the first comprehensive investigation into the response analysis and characterization of the PPy-type conducting polymers as mechanical sensors, to the best of authors' knowledge. View full abstract»

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  • Design of a Variable Constraint Hip Mechanism for a Hybrid Neuroprosthesis to Restore Gait After Spinal Cord Injury

    Publication Year: 2008 , Page(s): 197 - 205
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (603 KB) |  | HTML iconHTML  

    A variable constraint hip mechanism (VCHM) has been developed for a hybrid neuroprosthesis system (HNP) to provide postural stability and uninhibited sagittal hip rotation throughout the gait of individuals with paraplegia. This paper describes the design concepts used in the development of the VCHM. The VCHM utilizes a hydraulic system to reciprocally couple the hips or individually lock and/or free a hip to rotate in one or both sagittal directions. Bench testing results show the feasibility of utilizing a portable hydraulic system in controlling hip joint kinematics. The passive resistive torques of the VCHM against user hip rotation at hip angular velocities typical of gait does not exceed 10% of the achievable hip torque generated by functional neuromuscular stimulation of paralyzed muscle. With the state of the VCHM configured to reciprocally couple the hips, the normalized mechanical efficiency of the VCHM was determined to be 0.7. Since each hip will be independently driven by the FNS of muscle, high torque transfer efficiency between the hips is not essential for successful operation of the VCHM. Future work will focus on the development of a sensor-based feedback controller to modulate the hip constraints of the VCHM and validation of the VCHM as part of a HNP for paraplegic individuals implanted with FNS systems. View full abstract»

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  • Continuous Path Controller for the Remote Ultrasound Diagnostic System

    Publication Year: 2008 , Page(s): 206 - 218
    Cited by:  Papers (14)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1054 KB) |  | HTML iconHTML  

    A master-slave type remote ultrasound diagnostic system has been developed. The impedance controller has been implemented and reported for the positions of the master and slave manipulators to display and control the contact force between the ultrasound probe and the affected area. The present paper introduces an alternative orientation controller utilizing continuous path (CP) control in the remote ultrasound diagnostic system. The major contribution of the present paper is an introduction to the velocity-control-based CP controller for the master-slave type remote medical system, which realizes the continuous motion of the slave manipulator without a reduction in the master motion tracking performance. It is difficult to communicate information for control at high sampling rates between the master and slave site because the communication network between the master and slave site (local area network, integrated services digital network, asymmetric digital subscriber line, etc.) is limited. To cope with this problem, the CP controller was introduced to the orientation controller in special remote medical systems. The CP control realizes the continuous motion of the slave manipulator under the limited sampling rate of the orientation data transmitted by the master manipulator and high master motion tracking performance of the slave manipulator. This allows the slave manipulator safety to be improved and decreases the volume of the transmitted data. The experimental results demonstrate the accuracy of the path control of the slave manipulator using the CP control in the master--slave manipulation system, compared with the conventional point-to-point control. View full abstract»

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  • Control of a Snake-Like Robot in an Elastically Deformable Channel

    Publication Year: 2008 , Page(s): 219 - 227
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (809 KB) |  | HTML iconHTML  

    Hyper-redundant (HR) (snake-like) robotic manipulators are particularly adept at navigating narrow, convoluted paths, but have traditionally been difficult to model and control. In this paper, we outline a nonmodel-based control methodology, which allows a five-joint HR robot to traverse a foam channel of unknown curvature using the robot actuators as sensors. The robot is fitted to a waveform which is demonstrated to move the robot along a deformable channel. The waveform parameters are variable, and are adjusted by the developed controller such that the robot is able to navigate unknown curving paths. This robot is demonstrated to be able to navigate a constricted, compliant channel in which the robot is in continuous contact with its surroundings. It is intended that this technology be applied to a multilink actuated endoscope. View full abstract»

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  • Distributed Multipole Models for Design and Control of PM Actuators and Sensors

    Publication Year: 2008 , Page(s): 228 - 238
    Cited by:  Papers (39)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1155 KB) |  | HTML iconHTML  

    Design and control of multi-degree-of-freedom (DOF) electromagnetic actuators require a good understanding of the magnetic fields, and involve real-time calculation of magnetic forces. This paper presents a method to derive distributed multipole (DMP) models for characterizing the magnetic field and torque of permanent magnet (PM) based devices. The DMP method, which offers magnetic-field solutions in closed form, inherits many advantages of the dipole model originally conceptualized in the context of physics, but provides an effective means to account for the shape and magnetization of the physical magnet. Three practical applications are given to demonstrate the DMP models for design of PM-based actuators and sensing systems. The magnetic fields and forces calculated using DMP models have been validated by comparing against numerical and experimental results which show excellent agreement. View full abstract»

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  • Design and Analysis of a Permanent Magnet Spherical Actuator

    Publication Year: 2008 , Page(s): 239 - 248
    Cited by:  Papers (47)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (759 KB) |  | HTML iconHTML  

    This paper has proposed a 3-DOF spherical actuator consisting of a ball-shaped rotor with a full circle of permanent- magnet (PM) poles and a spherical-shell-like stator with two layers of circumferential air-core coils. One key feature of this design is the parametrization of PM and coil poles. Based on the torque model of the PM spherical actuator, the relationship between poles' parameters and torque output can be demonstrated. As a result, the actuator design aiming at achieving maximum torque output can be carried out from the relationships. Another advantage of this spherical actuator is its singularity-free workspace, which is verified with the actuator torque model and condition numbers. View full abstract»

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  • A Flux-Density-Based Electromagnetic Servo System for Real-Time Magnetic Servoing/Tracking

    Publication Year: 2008 , Page(s): 249 - 256
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (580 KB) |  | HTML iconHTML  

    The goal of this paper is to develop an electromagnetic servo system for two kinds of multiaxis motion control, namely magnetic servoing and magnetic tracking. Based on the proposed space vector expression that is a function of magnetic flux density for estimating the relative position from a magnet to a Hall probe, the magnetic servoing can achieve a contouring control with respect to a fixed magnet, and the magnetic tracking can track a moving magnet. The proposed flux-density-based feedback control is a fully closed-loop scheme, which involves an inner position control loop and an outer magnetic control loop. Experiments are presented to demonstrate the validity of the space vector expression in terms of flux density and the feasibility of the electromagnetic servo system using flux density feedback control. View full abstract»

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  • Induction Motor Bearing Failure Detection and Diagnosis: Park and Concordia Transform Approaches Comparative Study

    Publication Year: 2008 , Page(s): 257 - 262
    Cited by:  Papers (31)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (966 KB) |  | HTML iconHTML  

    This paper deals with the problem of bearing failure detection and diagnosis in induction motors. Indeed, bearing deterioration is now the main cause of induction motor rotor failures. In this context, two fault detection and diagnosis techniques, namely the Park transform approach and the Concordia transform, are briefly presented and compared. Experimental tests, on a 0.75 kW two-pole induction motor with artificial bearing damage, outline the main features of the aforementioned approaches for small- and medium-size induction motors bearing failure detection and/or diagnosis. View full abstract»

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    Publication Year: 2008 , Page(s): 263
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    Publication Year: 2008 , Page(s): 264
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  • IEEE/ASME Transactions on Mechatronics Information for authors

    Publication Year: 2008 , Page(s): C3
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  • Blank page [back cover]

    Publication Year: 2008 , 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