# IEEE/ASME Transactions on Mechatronics

### Early Access Articles

Early Access articles are made available in advance of the final electronic or print versions. Early Access articles are peer reviewed but may not be fully edited. They are fully citable from the moment they appear in IEEE Xplore.

## Filter Results

Displaying Results 1 - 25 of 70
• ### Efficient Grid-Based Rao-Blackwellized Particle Filter SLAM With Inter-Particle Map Sharing

Publication Year: 2018, Page(s): 1
| | PDF (2233 KB)

In this paper, we propose a novel and efficient grid-based RBPF-SLAM with inter-particle map shaping (IPMS). The proposed method aims at saving the computational memory in the grid-based RBPF-SLAM while maintaining the mapping accuracy. Unlike conventional RBPF-SLAM in which each particle has its own map of the whole environment, each particle has only a small map of the nearby environment called ... View full abstract»

• ### Polymer-based ultrasonic motors utilizing high-order vibration modes

Publication Year: 2018, Page(s): 1
| | PDF (23057 KB)

Our previous studies showed that traveling-wave rotary ultrasonic motors with polymer-based vibrators yielded limited output power when operating in the commonly-used low-order bending vibration modes. In this study, we employ a high-order bending mode in the polymer-based cylindrical ultrasonic motor because this mode yields a relatively high electromechanical coupling factor, which may lead to a... View full abstract»

• ### Adaptive Visual Servoing of Contour Features

Publication Year: 2018, Page(s): 1
| | PDF (672 KB)

In vision-based robotic manipulation, it is usually required that the object should present a desired shape or be viewed at a specific angle to facilitate subsequent operations such as object crawling and component inspection. To implement this kind of visual servoing tasks, image features that describe shape information of objects need to be designed. This paper proposes methods based on the gene... View full abstract»

• ### Adaptive Engagement Control of a Self-Energizing Clutch Actuator System Based on Robust Position Tracking

Publication Year: 2018, Page(s): 1
| | PDF (2395 KB)

This paper considers the problem of designing an engagement controller for a clutch actuator system having self-energizing mechanism. Since such a system includes torque amplification mechanism, parametric uncertainties in the model may lead to large erroneous results in the clutch torque controller. To compensate this undesirable effect, adaptive sliding mode control is applied based on the actua... View full abstract»

• ### Energy Harvesting and Sensing with Embedded Piezoelectric Ceramics in Knee Implants

Publication Year: 2018, Page(s): 1
| | PDF (1318 KB)

The knee replacement is one of the most common orthopedic surgical interventions in the United States; however, recent studies have shown up to 20% of patients are dissatisfied with the outcome. One of the key issues to improving these operations is a better understanding of the ligamentous balance during and after surgery. The goal of this work is to investigate the feasibility of embedding piezo... View full abstract»

• ### Vibration Decoupled Modeling and Robust Control of Redundant Cable-Driven Parallel Robots

Publication Year: 2018, Page(s): 1
| | PDF (9686 KB)

Trajectory tracking and vibration control of redundant cable-driven parallel robots (CDPR) attracted the attention of different researchers; however, the effects of the CDPRs end-effectors disturbing force/moment on the undesired vibrations and minimization of such effects has received few attention. A new general dynamic modeling and robust control structure for redundant cable-driven parallel ro... View full abstract»

• ### Understanding Environment-Adaptive Force Control of Series Elastic Actuators

Publication Year: 2018, Page(s): 1
| | PDF (5724 KB)

Series elastic actuators (SEAs) have become fundamental components in robots that physically interact with the surrounding word and with humans. Force control of SEAs is indeed an active area of research. This work refines and improves the stability analysis of the environment-adaptive force controller we previously proposed and proves asymptotic convergence in several cases of practical interest.... View full abstract»

• ### Model Guided Extremum Seeking for Diesel Engine Fuel Injection Optimization

Publication Year: 2018, Page(s): 1
| | PDF (5983 KB)

Extremum seeking (ES) is a model-free optimization method that has been successfully applied to the automotive engine calibration. However, the slow convergence speed of ES algorithms presents a concern for the on-line application of this approach to engine optimization where time constraint is critical.In this paper, a model-guided ES architecture is proposed and is showcased with fuel injection ... View full abstract»

• ### Position-Force Domain Passivity of the Human Arm in Telerobotic Systems

Publication Year: 2018, Page(s): 1
| | PDF (4936 KB)

In order to guarantee safe human-robot interaction in single-master/single-slave teleoperation systems, passivity-based controllers have traditionally been developed for communication delay compensation in the $i$velocity-force domain$i$ with the assumption of passivity of the human arm. The same controllers can also make the delayed comm... View full abstract»

• ### Monolithic Piezoelectric Insect with Resonance Walking

Publication Year: 2018, Page(s): 1
| | PDF (9911 KB) |  Media

This article describes the design, manufacture and performance of an untethered hexapod robot titled MinRAR V2. This robot utilizes a monolithic piezoelectric element, machined to allow for individual activation of bending actuators. The legs were designed so that the first two resonance modes overlap and therefore produce a walking motion at resonance. The monolithic construction significantly im... View full abstract»

• ### Dissipative finite element formulation applied to piezoelectric materials with Debye memory

Publication Year: 2018, Page(s): 1
| | PDF (401 KB)

This work presents a finite element study of the Debye memory in piezoelectric devices. This memory dependency is due to the spontaneous polarization of the electric dipoles and it can be understood as a transient viscosity-like effect. The formulation assumes a small strain and rotation hypothesis and the main contribution is the inclusion of time-dependent constitutive behavior. For this purpose... View full abstract»

• ### Development and Control of Articulated Mobile Robot for Climbing Steep Stairs

Publication Year: 2018, Page(s): 1
| | PDF (5203 KB) |  Media

In this work, we develop an articulated mobile robot that can climb stairs, and also move in narrow spaces and on three-dimensional terrain. The paper presents two control methods for this robot. The first is a three-dimensional steering method that is used to adapt the robot to the surrounding terrain. In this method, the robot relaxes its joints, allowing it to adapt to the terrain using its own... View full abstract»

• ### Cooperative aerial manipulation using multirotors with multi-DOF robotic arms

Publication Year: 2018, Page(s): 1
| | PDF (4872 KB)

This paper investigates pose manipulation of a rod-shaped object using two aerial manipulators which are multirotors combined with multi-DOF robotic arms. To achieve the cooperative aerial manipulation, we present motion control and planning methods for aerial manipulators. First, a robust multirotor motion controller is designed based on the thorough analysis on the dynamics of the aerial manipul... View full abstract»

• ### Distributed LQR Consensus Control for Heterogeneous Multi-Agent Systems: Theory and Experiments

Publication Year: 2018, Page(s): 1
| | PDF (3358 KB)

Controlling heterogeneous multi-agent systems (MASs) to cooperatively accomplish tasks is currently an emerging topic in the application-oriented research of robotics. This paper investigates the consensus problem of an MAS consisting of quadrotors and two-wheeled mobile robots (2WMRs). Directed and switching interaction topologies over the network are considered. We propose a distributed linear q... View full abstract»

• ### Dynamics-based motion de-blurring improves the performance of optical character recognition during fast scanning of a robotic eye

Publication Year: 2018, Page(s): 1
| | PDF (2386 KB)

This paper presents a quantitative evaluation of the dynamics-based de-blurring method using an optical character recognition (OCR) technology. Although various image de-blurring algorithms have been studied, there has been no standard performance metric; de-blurred images have often been evaluated in a qualitative manner. In this study, blurry images containing alphanumeric characters were obtain... View full abstract»

• ### 2D Traveling Wave Driven Piezoelectric Plate Robot for Planar Motion

Publication Year: 2018, Page(s): 1
| | PDF (5198 KB) |  Media

In this paper, a concept design of a novel Traveling Wave Driven Piezoelectric Plate Robot (TWDPPR) for planar motion is presented. The TWDPPR consists of an aluminium plate structure, with four non-collocated piezoelectric patches bonded on its surface. A two dimensions modeling of non-collocated piezoelectric patches bonded on thin structures developed and validated in previous work is used in t... View full abstract»

• ### Decaying Time Constant Enhanced MEMS Disk Resonator for High Precision Gyroscopic Application

Publication Year: 2018, Page(s): 1
| | PDF (3198 KB)

This paper reports a new design strategy of adding lumped masses to the frame structure of a disk resonator gyroscope (DRG) to mitigate its figure of merit (FOM). A greatly enhanced decaying time constant $tau$ can lead to very small FOM, which could then greatly mitigate the DRG's bias and bias drift. Additionally, this technique could also reduce the Brownian noise ... View full abstract»

• ### Development of a Non-resonant Piezoelectric Motor with Nanometer Resolution Driving Ability

Publication Year: 2018, Page(s): 1
| | PDF (1129 KB)

A non-resonant-type piezoelectric motor with a precise driving ability was proposed. The operating principle of the proposed motor is different from the previous non-resonant piezoelectric motors using either the clamping and feeding mechanism (inchworm mechanism) or the inertia drive mechanism. An oblique linear motion formed by the hybrid of two bending motions of a sandwich transducer was used ... View full abstract»

• ### An Apparatus to Measure Wheel-Soil Interactions on Sandy Terrains

Publication Year: 2018, Page(s): 1
| | PDF (1198 KB)

Wheeled mobile robots (WMR) have been deployed in Mars/Lunar exploration, military missions, and geological investigations, and they must handle rough and deformable terrains. The dynamics at the wheel-soil interface, including the wheel-terrain contact angle, wheel sinkage, and wheel-soil interaction forces and torque, are major factors in the entrapment of NASA SPIRIT MER, and the subsequent mis... View full abstract»

• ### A Modal Expansion Method for Displacement and Strain Field Reconstruction of a Thin-wall Component during Machining

Publication Year: 2018, Page(s): 1
| | PDF (8449 KB)

Machining complex thin-wall components (such as compressor disks and casings in aircraft engines) has been a challenging task because workpiece deformations and vibrations not only compromise the surface integrity but also induce residual stresses in the final products. This paper offers a physics-based method that accounts for the damping effects and external loads for reconstructing the dynamic ... View full abstract»

• ### Design and Experimental Verification of Hip Exoskeleton with Balance Capacities for Walking Assistance

Publication Year: 2018, Page(s): 1
| | PDF (1758 KB)

Most current hip exoskeletons emphasize assistance for walking rather than stability. The goal of this paper is to develop a novel, high-power, self-balancing, and passively and software-controlled actively compliant hip exoskeleton that can assist with movement and maintain balance in both the sagittal and frontal planes. The developed hip exoskeleton includes powered hip abduction/adduction (HAA... View full abstract»

• ### Novel Particle Swarm Optimization-Based Variational Mode Decomposition Method for the Fault Diagnosis of Complex Rotating Machinery

Publication Year: 2017, Page(s): 1
| | PDF (3266 KB)

The vibration signals of faulty rotating machinery are typically non-stationary, nonlinear, and mixed with abundant compounded background noise. To extract the potential excitations from the observed rotating machinery, signal demodulation and time-frequency analysis are indispensable. This work proposes a novel particle swarm optimization (PSO)-based variational mode decomposition method, which a... View full abstract»

• ### Non-Stationary Signal De-noising Using an Envelope-Tracking Filter

Publication Year: 2017, Page(s): 1
| | PDF (675 KB)

Signal de-noising is crucial to condition monitoring of mechanical systems as fault characteristics may be hidden by strong noise in some cases. In this paper, we focus on the de-noising of non-stationary vibration signals which contain multiple complex components. To this end, we introduce a time-frequency (TF) filter called envelope-tracking filter (ETF). The basic idea of the ETF is to characte... View full abstract»

• ### Full Vehicle Combinatory Efficient Damping Controller: Experimental Implementation

Publication Year: 2017, Page(s): 1
| | PDF (2578 KB)

This paper presents an experimental validation of a new control design for Semi-Active suspension systems: the referred to as Combinatory quasi-Optimum Damping (COD) controller. This strategy is entirely based on vehicle measurements, is multi-objective, of low computational load and can be implemented in real time. View full abstract»

• ### Managing Thermally Derated Torque of an Electrified Powertrain through LPV Control

Publication Year: 2017, Page(s): 1
| | PDF (1750 KB)

Vehicle with electrified powertrains exhibit degraded performance when operated in hot environments. When the operating and surrounding temperatures rise, an electric drive suffers from torque derating as its parameters change. This paper proposes a Linear Parameter Varying (LPV) based observer controller pair to address this problem. The feedback Field Oriented Control (FOC) is the most commonly ... View full abstract»

## 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
George Chiu
Purdue University
West Lafayette, IN USA
gchiu@purdue.edu