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Mechatronics, IEEE/ASME Transactions on

Issue 2 • Date April 2009

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Displaying Results 1 - 21 of 21
  • Table of contents

    Publication Year: 2009 , Page(s): C1
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  • IEEE/ASME Transactions on Mechatronics publication information

    Publication Year: 2009 , Page(s): C2
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  • Guest Editorial Introduction to the Focused Section on Mechatronics in Multirobot Systems

    Publication Year: 2009 , Page(s): 133 - 140
    Cited by:  Papers (2)
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  • Posture Measurement and Coordinated Control of Twin Hoisting-Girder Transporters Based on Hybrid Network and RTK-GPS

    Publication Year: 2009 , Page(s): 141 - 150
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (619 KB) |  | HTML iconHTML  

    In this paper, a typical application of multimobile robots, i.e., twin hoisting-girder transporters cooperating to transport a giant concrete girder, is studied. An overall solution based on the hybrid network communication framework is presented and the key issues, such as the accurate posture estimation and coordinated control of the two independent transporters forming a team, are researched. I... View full abstract»

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  • A Fast Onboard Relative Positioning Module for Multirobot Systems

    Publication Year: 2009 , Page(s): 151 - 162
    Cited by:  Papers (20)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (710 KB) |  | HTML iconHTML  

    We present an onboard robotic module that can determine relative positions among miniature robots. The module uses high-frequency-modulated infrared emissions to enable nearby robots to determine the range, bearing, and message of the sender with a rapid update rate. A carrier sense multiple access protocol is employed for scalable operation. We describe a technique for calculating the range and b... View full abstract»

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  • The Sensor-based Random Graph Method for Cooperative Robot Exploration

    Publication Year: 2009 , Page(s): 163 - 175
    Cited by:  Papers (32)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1171 KB) |  | HTML iconHTML  

    We present a decentralized cooperative exploration strategy for a team of mobile robots equipped with range finders. A roadmap of the explored area, with the associate safe region, is built in the form of a sensor-based random graph (SRG). This is expanded by the robots by using a randomized local planner that automatically realizes a tradeoff between information gain and navigation cost. The node... View full abstract»

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  • An Integrated Approach for Achieving Multirobot Task Formations

    Publication Year: 2009 , Page(s): 176 - 186
    Cited by:  Papers (15)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (763 KB) |  | HTML iconHTML  

    In this paper, a problem, called the initial formation problem, within the multirobot task allocation domain is addressed. This problem consists in deciding which robot should go to each of the positions of the formation in order to minimize an objective. Two different distributed algorithms that solve this problem are explained. The second algorithm presents a novel approach that uses cost means ... View full abstract»

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  • Communication Timing Control and Topology Reconfiguration of a Sink-Free Meshed Sensor Network With Mobile Robots

    Publication Year: 2009 , Page(s): 187 - 197
    Cited by:  Papers (6)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (1117 KB) |  | HTML iconHTML  

    This paper deals with a unified system of fully distributed meshed sensor network and mobile robot cooperation that serves as a sink node. The meshed sensor network in this paper is composed of static wireless nodes, and is capable of fully distributed peer-to-peer (P2P) ad hoc communication with ZigBee-based protocol. A novel communication timing control employing coupled-oscillator... View full abstract»

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  • Multiple Traveling Robot Problem: A Solution Based on Dynamic Task Selection and Robust Execution

    Publication Year: 2009 , Page(s): 198 - 206
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (581 KB) |  | HTML iconHTML  

    The multiple traveling robot problem (MTRP), the real-world version of the well-known NP-hard multiple traveling salesman problem (MTSP), asks for finding routes of robots to visit a set of targets. Various objectives may be defined for this problem (e.g., minimization of total path length, time, etc.). The overall solution quality is dependent on both the quality of the solution constructed by th... View full abstract»

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  • Cluster Space Specification and Control of Mobile Multirobot Systems

    Publication Year: 2009 , Page(s): 207 - 218
    Cited by:  Papers (18)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (751 KB) |  | HTML iconHTML  

    The cluster space state representation of mobile multirobot systems is introduced as a means of enabling enhanced control of mobile multirobot systems. A conceptual framework is proposed for the selection of appropriate cluster space state variables for an n-robot system, the development of formal kinematics that associate the cluster space state variables with robot-specific variables, and... View full abstract»

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  • Robust Finite-Time Consensus Tracking Algorithm for Multirobot Systems

    Publication Year: 2009 , Page(s): 219 - 228
    Cited by:  Papers (124)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (277 KB) |  | HTML iconHTML  

    This paper studies the finite-time consensus tracking control for multirobot systems. We prove that finite-time consensus tracking of multiagent systems can be achieved on the terminal sliding-mode surface. Also, we show that the proposed error function can be modified to achieve relative state deviation between agents. These results are then applied to the finite-time consensus tracking control o... View full abstract»

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  • Reconfiguration of a Group of Wheel-Manipulator Robots Based on MSV and CSM

    Publication Year: 2009 , Page(s): 229 - 239
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (749 KB) |  | HTML iconHTML  

    The problem addressed in this paper is the representation and reconfiguration of the group configurations assembled by wheel-manipulator robots. The wheel-manipulator robot as a module, which can independently perform the actions of locomotion and manipulation, possesses the properties of the postural orientation and the locomotive direction. The group configurations of these robots can be reconfi... View full abstract»

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  • Cooperative Decision-Making in Decentralized Multiple-Robot Systems: The Best-of-N Problem

    Publication Year: 2009 , Page(s): 240 - 251
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (702 KB) |  | HTML iconHTML  

    Multiple-robot systems (MRS) that are decentrally organized have many benefits over centralized systems. Decentralized systems are less affected by computational and communicative bottlenecks, and they are more robust to the loss of individual member robots. System-level cognitive operations, though, are much more difficult to implement in decentralized systems. One example is the best-of-N decisi... View full abstract»

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  • Experimental Validation of an Underactuated Two-Wheeled Mobile Robot

    Publication Year: 2009 , Page(s): 252 - 257
    Cited by:  Papers (11)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (447 KB) |  | HTML iconHTML  

    Reported in this paper are the implementation and testing of the real-time control of a two-wheeled mobile robot. The robot is underactuated, its mobility and control inputs being three and two, respectively. The control challenge faced here is to reduce the oscillations of the intermediate body while following a desired path. A controller, introduced elsewhere, is implemented using a real-time op... View full abstract»

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  • A Fault-Tolerant Manipulator Robot Based on {{cal H}}_2 , {{cal H}}_{\infty } , and Mixed {{cal H}}_2/{{cal H}}_{\infty } Markovian Controls

    Publication Year: 2009 , Page(s): 257 - 263
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (242 KB) |  | HTML iconHTML  

    This paper develops a Markovian jump model to describe the fault occurrences in a manipulator robot of three joints. This model includes the changes of operation points and the probability that a fault occurs in an actuator. After a fault, the robot works as a manipulator with free joints. Based on the developed model, a comparative study among three Markovian controllers, H2, H... View full abstract»

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  • Motion Profile Design to Reduce Residual Vibration of High-Speed Positioning Stages

    Publication Year: 2009 , Page(s): 264 - 269
    Cited by:  Papers (22)
    Save to Project icon | Request Permissions | Click to expandAbstract | PDF file iconPDF (583 KB) |  | HTML iconHTML  

    Precision positioning machines are required to run with higher speed and higher accuracy. The high running speed can cause strong excitations on the machine structure, which results in severe structure vibration and long settling time. This paper presents a low-vibration motion profile generation method to reduce the residual vibration. The acceleration profile is designed by using a level-shifted... View full abstract»

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  • Focused section on Healthcare Mechatronics

    Publication Year: 2009 , Page(s): 270
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  • Focused section on optomechatronics

    Publication Year: 2009 , Page(s): 271
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  • Scitopia.org [advertisement]

    Publication Year: 2009 , Page(s): 272
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  • IEEE/ASME Transactions on Mechatronics Information for authors

    Publication Year: 2009 , Page(s): C3
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  • Blank page [back cover]

    Publication Year: 2009 , 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