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Mechatronics, IEEE/ASME Transactions on

Issue 6 • Date Dec. 2008

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Displaying Results 1 - 16 of 16
  • 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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  • Desired Compensation Adaptive Robust Control of a Linear-Motor-Driven Precision Industrial Gantry With Improved Cogging Force Compensation

    Publication Year: 2008 , Page(s): 617 - 624
    Cited by:  Papers (33)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (862 KB) |  | HTML iconHTML  

    This paper proposes a new model for cogging forces of linear motor systems. Sinusoidal functions of positions are used to effectively capture the largely periodic nature of cogging forces with respect to position, while B-spline functions are employed to account for the additional aperiodic part of cogging forces. This model is experimentally demonstrated to be able to capture both the periodic and nonperiodic characteristics of cogging force while having a linear parametrization form, which makes the online adaptive compensation of cogging forces possible and effective. A discontinuous-projection-based desired compensation adaptive robust controller (DCARC) is then constructed, which makes full use of the proposed cogging force model for an improved cogging force compensation. Comparative experimental results with various cogging force compensations are obtained on both axes of a linear-motor-driven industrial gantry. The results show that DCARC with the proposed model compensation achieves the best tracking performance among all the three algorithms tested, validating the proposed cogging force model. The excellent tracking performances obtained in the experiments also verify the effectiveness of the proposed ARC control algorithms in practical applications. The proposed model and control algorithm can be applied for other types of motor control systems as well. View full abstract»

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  • Modeling of an Electromechanical Engine Valve Actuator Based on a Hybrid Analytical--FEM Approach

    Publication Year: 2008 , Page(s): 625 - 637
    Cited by:  Papers (16)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (522 KB) |  | HTML iconHTML  

    The use of an electromechanical valve actuator (EMVA) formed by two magnets and two balanced springs is a promising tool to implement innovative engine management strategies. This actuator needs to be properly controlled to reduce impact velocities during engine valve operations, but the use of a position sensor for each valve is not possible for cost reasons. It is therefore essential to find sensorless solutions based on increasingly predictive models of such a mechatronic actuator. To address this task, in this paper, we present an in-depth lumped parameter model of an EMVA based on a hybrid analytical-finite-element method (FEM) approach. The idea is to develop a model of EMVA embedding the well-known predictive behavior of FEM models. All FEM data are then fitted to a smooth curve that renders unknown magnetic quantities in analytical form. In this regard, we select a single-wise function that is able to describe global magnetic quantities as the flux linkage and force both for linear and saturation working regions of the materials. The model intrinsically describes all mutual effects between two magnets. The goodness of the dynamic behavior of the model is finally tested on a series of transient FEM simulations of the actuator in different working conditions. View full abstract»

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  • Design of Mechatronic Systems With Configuration-Dependent Dynamics: Simulation and Optimization

    Publication Year: 2008 , Page(s): 638 - 646
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (483 KB) |  | HTML iconHTML  

    This paper considers the simulation and optimization of mechatronic systems with configuration-dependent dynamics. A modeling methodology, able to capture the varying dynamics and the embedded control system actions, using affine reduced models and cosimulation, is proposed. In this way, mechatronic systems with configuration-dependent dynamics can be evaluated during the design phase. This methodology is applied to a pick-and-place assembly robot and an experimental validation is carried out. The mechatronic design approach, which takes into consideration structural and control parameters, is considered. Using time-domain metrics, two control strategies are derived: a linear time-invariant proportional--integral--derivative (PID) controller and a linear parameter-varying PID controller. Finally, design tradeoffs are evaluated in a truly mechatronic approach. View full abstract»

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  • Novel Controllable Semiactive Devices for Reshaping Structural Response

    Publication Year: 2008 , Page(s): 647 - 657
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1581 KB) |  | HTML iconHTML  

    Semiactive dampers and actuators hold significant promise for their ability to add supplemental damping and reduce structural response, particularly under earthquake loading. Novel controllable devices utilizing off the shelf components and control systems have been developed to modify structural response. The devices are presented from design, modeling, analysis, and validation via hybrid testing and experimental shake table results. All cases are compared with independent analytical predictions based on first principles analysis. View full abstract»

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  • Novel Magnetically Levitated Two-Level Motor

    Publication Year: 2008 , Page(s): 658 - 668
    Cited by:  Papers (34)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1619 KB) |  | HTML iconHTML  

    Several processes in chemical, pharmaceutical, biotechnology, and semiconductor industry require contactless levitation and rotation through a hermetically closed chamber wall. This paper presents a novel concept that combines crucial advantages such as high acceleration capability, large air gap, and a compact motor setup. The basic idea is to separate a homopolar bearing unit axially from a multipolar drive unit on two different height levels. Hence, the proposed concept is denominated as ldquomagnetically levitated two-level motor.rdquo In this paper, the bearing and drive functionalities are explained in detail and design guidelines are given based on analytic equations and electromagnetic 3-D simulations. Furthermore, the influence of nonidealities such as saturation and coupling effects is evaluated and included in the design. Finally, extensive measurements on an experimental prototype exemplify the design considerations and prove the excellent performance of the new concept. View full abstract»

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  • Eddy Current Brakes for Haptic Interfaces: Design, Identification, and Control

    Publication Year: 2008 , Page(s): 669 - 677
    Cited by:  Papers (16)  |  Patents (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (374 KB) |  | HTML iconHTML  

    We describe the design of an eddy current brake for use as programmable viscous damper for haptic interfaces. Unlike other types of programmable brakes, eddy current brakes can provide linear, programmable physical damping that can be modulated at high frequency. These properties makes them well suited as dissipative actuators for haptic interfaces. We overview the governing physical relationships, and describe design optimization for inertial constraints. A prototype haptic interface is described, and experimental results are shown that illustrate the improvement in stability when simulating a stiff wall that is made possible using programmable eddy current dampers. View full abstract»

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  • Modeling and Verification of a Diamond-Shape Narrow-Tilting Vehicle

    Publication Year: 2008 , Page(s): 678 - 691
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1682 KB) |  | HTML iconHTML  

    The authors use planar multibody system dynamics to model an intelligent personal mobility (IPM) narrow-tilting vehicle (NTV) with four wheels arranged in a diamond configuration. A planar multibody system tire model is used to represent ground-vehicle interaction. In addition to analyzing the roll plane dynamics, the proposed model supports the measuring of joint reaction forces (a difficult task with actual vehicles) to assist in advanced controller and mechanical system design. We also propose a separate calculation method using two acceleration sensors and one angular position sensor for the purpose of obtaining ground forces. Results from model verification tests (i.e., comparisons with actual data from a slalom test) indicate that the proposed IPM model performed with a high degree of accuracy. View full abstract»

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  • The Use of Aerial Images and GPS for Mobile Robot Waypoint Navigation

    Publication Year: 2008 , Page(s): 692 - 699
    Cited by:  Papers (10)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (690 KB) |  | HTML iconHTML  

    The application of aerial and satellite imagery for mobile robot path planning and navigation has shown potential in recent years. Their uses vary from identifying terrain properties for creating traversability maps to extracting landmarks for autonomous navigation. With the freely available differential positioning system, Wide Area Augmentation System (WAAS)/European Geostationary Navigation Overlay Service (EGNOS), the use of the GPS with aerial images providing valuable contextual data demonstrates potential in waypoint-based navigation of mobile robots. However, important issues relating to the spatial accuracies of image, waypoint, and GPS-derived data, vital for obtaining accurate navigation results, are often overseen. This paper defines the causes of spatial inaccuracies in order to develop optimal waypoint navigation parameters and provides researchers with sufficient knowledge to reproduce similar results. An improvement of up to 48% in the number of waypoints reached, depending on the radius, was determined for the positional correction of the GPS. The results are shown with a simulated synchronous drive robot in Matlab's Simulink environment. The reader is presented with a method for easily creating waypoints from aerial images, yielding results to a similar level of accuracy to conventional and often tedious manual methods. View full abstract»

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  • Low-Cost IR Reflective Sensors for Submicrolevel Position Measurement and Control

    Publication Year: 2008 , Page(s): 700 - 709
    Cited by:  Papers (12)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1058 KB) |  | HTML iconHTML  

    This paper investigates the feasibility of using commercially available, low-cost IR reflective sensors for micro- to sub- microscale position measurement and control. These sensors are typically used as optical switches; however, their application for detecting fine motion, such as the movement of a piezoactuator, has not been investigated. Five IR sensors were evaluated to determine their range, resolution, linear distortion, noise characteristics, and bandwidth. Experimental results show that the performance of the IR sensors compares well with a commercial inductive sensor that costs significantly more. For example, the measured resolution was within several hundred nanometers over a plusmn200 mum range and the linear distortion was significantly lower than the inductive sensor. A selected IR sensor was used in the design of a state-feedback control system to compensate for hysteresis and creep in an experimental piezopositioner. Compared to the open-loop system, by using the IR sensor in feedback, the output hysteresis was reduced by over 95 %. These results show the potential of such sensors in the design of low-cost microprecision mechatronic positioning systems. View full abstract»

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  • Call for papers-focused section on anthropomorphism in mechatronic systems

    Publication Year: 2008 , Page(s): 710
    Save to Project icon | Request Permissions | PDF file iconPDF (636 KB)  
    Freely Available from IEEE
  • IEEE /ASME International Conference on Advanced Intelligent Mechatronics (AIM 2009)

    Publication Year: 2008 , Page(s): 711
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    Freely Available from IEEE
  • 2008 Index IEEE/ASME Transactions on Mechatronics Vol. 13

    Publication Year: 2008 , Page(s): 712 - 728
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    Freely Available from IEEE
  • IEEE/ASME Transactions on Mechatronics Information for authors

    Publication Year: 2008 , Page(s): C3
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    Freely Available from IEEE
  • 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.

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