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Mechatronics, IEEE/ASME Transactions on

Issue 5 • Date Oct. 2013

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  • Table of Contents

    Publication Year: 2013 , Page(s): C1 - C4
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  • IEEE/ASME Transactions on Mechatronics publication information

    Publication Year: 2013 , Page(s): C2
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  • Electrorheological Semiactive Shock Isolation Platform for Naval Applications

    Publication Year: 2013 , Page(s): 1437 - 1447
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1294 KB) |  | HTML iconHTML  

    This paper presents a semiactive shock absorber system, which utilizes the special properties of electrorheological (ER) valves and which is intended to protect sensitive equipment on ships or submarines. It consists of a platform and a base plate, which are connected via an ER damper and an air spring. The resulting acceleration of the platform upon an external shock of the base plate should be significantly reduced while assuring fast and accurate repositioning of the platform after the shock. A control strategy is discussed, which fulfills these requirements using only one acceleration sensor. Simulation studies and measurement results on a prototype prove the feasibility of the proposed system. View full abstract»

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  • Switched Reluctance Motor Drive With External Rotor for Fan in Air Conditioner

    Publication Year: 2013 , Page(s): 1448 - 1458
    Cited by:  Papers (5)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2442 KB) |  | HTML iconHTML  

    This paper describes the developed three-phase 6/8 poles switched reluctance external rotor motor drive for a fan in air conditioner. The external rotor core structure and the internal stator core structure, the three-phase windings arrangement, the slotted claw, and the setting structure of the photoelectric transducers on the rotor position detector are illustrated. The electromagnetic field calculation results are given. The three-phase asymmetric bridge power converter was used in the drive system. The block diagram of the switched reluctance external rotor motor drive with closed-loop rotor speed control is given. The closed-loop rotor speed control is implemented using a fuzzy logic algorithm. The experimental tests of the developed prototype are made for driving the fan from 200 to 950 r/min. The comparison results of the two systems show that the input power and input phase current RMS value are lower in the developed three-phase 6/8 poles external rotor switched reluctance motor drive prototype with the fan than those in the induction motor variable-frequency variable-speed drive with the fan. View full abstract»

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  • Motion Control of Piezoelectric Positioning Stages: Modeling, Controller Design, and Experimental Evaluation

    Publication Year: 2013 , Page(s): 1459 - 1471
    Cited by:  Papers (17)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1576 KB) |  | HTML iconHTML  

    In this paper, a general skeleton on modeling, controller design, and applications of the piezoelectric positioning stages is presented. Toward this framework, a general model is first proposed to characterize dynamic behaviors of the stage, including frequency response of the stage, voltage-charge hysteresis and nonlinear electric behavior. To illustrate the validity of the proposed general model, a dynamic backlash-like model is adopted as one of hysteresis models to describe the hysteresis effect, which is confirmed by experimental tests. Thus, the developed model provides a general frame for controller design. As an illustration to this aspect, a robust adaptive controller is developed based on a reduced dynamic model under both unknown hysteresis nonlinearities and parameter uncertainties. The proposed control law ensures the boundedness of the closed-loop signals and desired tracking precision. Finally, experimental tests with different motion trajectories are conducted to verify the proposed general model and the robust control law. Experimental results demonstrate the excellent tracking performance, which validates the feasibility and effectiveness of the proposed approach. View full abstract»

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  • A Quasi-Spherical Triangle-Based Approach for Efficient 3-D Soft-Tissue Motion Tracking

    Publication Year: 2013 , Page(s): 1472 - 1484
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1244 KB) |  | HTML iconHTML  

    Recently, model-based visual-tracking techniques have been developed for measuring physiological motion in robot-assisted minimally invasive surgery. However, the tracking of living tissue surfaces in 3-D space is very challenging. Linear models are difficult to fit complex tissue dynamics, while current nonlinear models generally suffer from complex implementation and excessive computational burden. Instrument occlusion is another challenging issue which often causes tracking failure. In this study, we propose a novel deformable model suitable for real-time 3-D tissue tracking based on a quasi-spherical triangle. The model is parameterized by three vertices of the triangle with a curving parameter so that the warped surface can be computed efficiently using matrix operations. An efficient second-order minimization technique is employed to estimate model parameters, and the Jacobian matrix associated with the proposed model is derived. To alleviate the effects of illumination, a triangle-based illumination model is incorporated into the tracking scheme. A new motion prediction algorithm is developed by exploring the peak-valley characteristics of motion signals to handle the occlusion problem. The performance of the proposed method is validated using phantom heart data and in vivo videos acquired by the daVinci surgical robotic platform. View full abstract»

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  • Meshworm: A Peristaltic Soft Robot With Antagonistic Nickel Titanium Coil Actuators

    Publication Year: 2013 , Page(s): 1485 - 1497
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1937 KB) |  | HTML iconHTML  

    This paper presents the complete development and analysis of a soft robotic platform that exhibits peristaltic locomotion. The design principle is based on the antagonistic arrangement of circular and longitudinal muscle groups of Oligochaetes. Sequential antagonistic motion is achieved in a flexible braided mesh-tube structure using a nickel titanium (NiTi) coil actuators wrapped in a spiral pattern around the circumference. An enhanced theoretical model of the NiTi coil spring describes the combination of martensite deformation and spring elasticity as a function of geometry. A numerical model of the mesh structures reveals how peristaltic actuation induces robust locomotion and details the deformation by the contraction of circumferential NiTi actuators. Several peristaltic locomotion modes are modeled, tested, and compared on the basis of speed. Utilizing additional NiTi coils placed longitudinally, steering capabilities are incorporated. Proprioceptive potentiometers sense segment contraction, which enables the development of closed-loop controllers. Several appropriate control algorithms are designed and experimentally compared based on locomotion speed and energy consumption. The entire mechanical structure is made of flexible mesh materials and can withstand significant external impact during operation. This approach allows a completely soft robotic platform by employing a flexible control unit and energy sources. View full abstract»

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  • Inverse Rate-Dependent Prandtl–Ishlinskii Model for Feedforward Compensation of Hysteresis in a Piezomicropositioning Actuator

    Publication Year: 2013 , Page(s): 1498 - 1507
    Cited by:  Papers (9)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (801 KB) |  | HTML iconHTML  

    Piezomicropositioning actuators, which are widely used in micropositioning applications, exhibit strong rate-dependent hysteresis nonlinearities that affect the accuracy of these micropositioning systems when used in open-loop control systems, and may also even lead to system instability of closed-loop control systems. Feedback control techniques could compensate for the rate-dependent hysteresis in piezomicropositioning actuators. However, accurate sensors over a wide range of excitation frequencies and the feedback control techniques inserted in the closed-loop control systems may limit the use of the piezomicropositioning and nanopositioning systems in different micropositioning and nanopositioning applications. We show that open-loop control techniques, also called feedforward techniques, can compensate for rate-dependent hysteresis nonlinearities over different excitation frequencies. An inverse rate-dependent Prandtl-Ishlinskii model is utilized for feedforward compensation of the rate-dependent hysteresis nonlinearities in a piezomicropositioning stage. The exact inversion of the rate-dependent model holds under the condition that the distances between the thresholds do not decrease in time. The inverse of the rate-dependent model is applied as a feedforward compensator to compensate for the rate-dependent hysteresis nonlinearities of a piezomicropositioning actuator at a range of different excitation frequencies between 0.05-100 Hz. The results show that the inverse compensator suppresses the rate-dependent hysteresis nonlinearities, and the maximum positioning error in the output displacement at different excitation frequencies. View full abstract»

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  • Study of a New Strategy for Pneumatic Actuator System Energy Efficiency Improvement via the Scroll Expander Technology

    Publication Year: 2013 , Page(s): 1508 - 1518
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1468 KB) |  | HTML iconHTML  

    Although pneumatic actuators have been widely used in industry and other application areas, its weakness in low-energy efficiency is well known. Aiming for energy efficiency improvement, this paper presents a new hybrid pneumatic system that will recover energy from the exhaust compressed air through a scroll expander. The scroll expander drives a generator to convert the exhaust compressed air energy to electrical energy; thus, the proposed system is entitled “pneumatic-electrical” system. A closed-loop coordinate control strategy is engaged and proven to be essential in maintaining proper actuator operation status, while the scroll expander is connected in. The overall system mathematical model is derived and simulation results are presented in this paper. A test rig is set up to verify the feasibility of the proposed system structure. Both simulation and test results indicate that the proposed scheme is realistic and work well. View full abstract»

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  • Predictive Consumption Models for Electropneumatic Production Systems

    Publication Year: 2013 , Page(s): 1519 - 1526
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (722 KB) |  | HTML iconHTML  

    A predictive consumption model suitable for industrial type pneumatic production systems is presented in this paper. The model is developed in MATLAB Simulink and interfaced with a programmable logic controller via an OPC server. Theoretical model development and validation are discussed with particular emphasis on applicability to industrial systems. Currently, consumers such as linear cylinders, semirotary actuators, grippers, open pipes, nozzles, and leakage can be accounted for with the model. The proposed modeling approach will enable a greater understanding of the dynamic demand for compressed air by production machines and lines. View full abstract»

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  • A Piezoelectric Energy Harvester for Rotary Motion Applications: Design and Experiments

    Publication Year: 2013 , Page(s): 1527 - 1534
    Cited by:  Papers (8)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (526 KB) |  | HTML iconHTML  

    This paper investigates the analysis and design of a vibration-based energy harvester for rotary motion applications. The energy harvester consists of a cantilever beam with a tip mass and a piezoelectric ceramic attached along the beam that is mounted on a rotating shaft. Using this system, mechanical vibration energy is induced in the flexible beam due to the gravitational force applied to the tip mass while the hub is rotating. The piezoelectric transducer is used to convert the induced mechanical vibration energy into electricity. The equations of motion of the flexible structure are utilized along with the physical characteristics of the piezoelectric transducer to derive expressions for the electrical power. Furthermore, expressions for the optimum load resistance and maximum output power are obtained and validated experimentally using PVDF and PZT transducers. The results indicate that a maximum power of 6.4 mW at a shaft speed of 138 rad/s can be extracted by using a PZT transducer with dimensions 50.8 mm × 38.1 mm × 0.13 mm. This amount of power is sufficient to provide power for typical wireless sensors such as accelerometers and strain gauges. View full abstract»

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  • Magnetic Gear Pole-Slip Prevention Using Explicit Model Predictive Control

    Publication Year: 2013 , Page(s): 1535 - 1543
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1091 KB) |  | HTML iconHTML  

    This paper considers the phenomenon of “pole slipping” in magnetic gears and couplings as a result of torque overload. Specifically, previously reported work on optimized servo speed control and pole-slip detection in magnetic gears is extended through the development of a new control scheme to prevent pole slipping due to combined controller and load torque overload. By utilizing a model predictive control (MPC) strategy, the controller's principal objective is to prevent the magnetic gear from pole slipping by invoking hard constraints on the amount of controller torque that can be applied for a given steady-state load torque. A custom demonstrator drivetrain incorporating a magnetic coupling (1:1 magnetic gear) is used to experimentally verify pole-slip prevention using an implementation of explicit MPC via multiparametric quadratic programming (mp-QP). It is shown that while conventional MPC is restricted to systems with relatively low sample rates, due to the need to solve the constrained optimization problem in real time, an alternative explicit form of MPC can be readily utilized at sample rates more typically found in electrical drive applications. The underlying principles and benefits afforded by the proposed techniques are validated using simulation and experimental measurements from the drivetrain test facility, using only motor-side sensor measurements and load-side state estimates via a discrete-time observer. View full abstract»

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  • Adaptive Control of Manipulators Forming Closed Kinematic Chain With Inaccurate Kinematic Model

    Publication Year: 2013 , Page(s): 1544 - 1554
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1049 KB) |  | HTML iconHTML  

    The problem of self-tuning control of cooperative manipulators forming closed kinematic chain in the presence of inaccurate kinematics model is addressed in this paper. The kinematic parameters pertaining to the relative position/orientation uncertainties of the interconnected manipulators are updated online by two cascaded estimators in order to tune a cooperative controller for achieving accurate motion tracking with minimum-norm actuation force. This technique permits accurate calibration of the relative kinematics of the involved manipulators without needing high precision end-point sensing or force measurements, and hence, it is economically justified. Investigating the stability of the entire real-time estimator/controller system reveals that the convergence and stability of the adaptive control process can be ensured if 1) the direction of angular velocity vector does not remain constant over time, and 2) the initial kinematic parameter error is upper bounded by a scaler function of some known parameters. The adaptive controller is proved to be singularity-free even though the control law involves inverting the approximation of a matrix computed at the estimated parameters. Experimental results demonstrate the sensitivity of the tracking performance of the conventional inverse dynamic control scheme to kinematic inaccuracies, while the tracking error is significantly reduced by the self-tuning cooperative controller. View full abstract»

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  • Modeling and Experimental Investigation of Rotational Resistance of a Spiral-Type Robotic Capsule Inside a Real Intestine

    Publication Year: 2013 , Page(s): 1555 - 1562
    Cited by:  Papers (4)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (643 KB) |  | HTML iconHTML  

    In this study, the rotational resistance of a spiral-type capsule rotating inside a small intestine is investigated by in vitro experiments and analytical modeling, on which a limited literature is available. The results presented exhibit viscoelastic nature of the intestinal tissue. The significance of various spiral structures and rotating speeds is quantitatively evaluated from the propulsion point of view. Also, an analytical torque model is proposed and subsequently validated. The close match between the experimental results and numerical results from the model shows that the model is reasonably accurate to estimate the rotational resistance torque of the small intestine. Both the experimental and modeling works provide a useful guide to determine the torque required for a spiraltype endoscopic capsule operating in a “really” small intestine. Therefore, the proposed torque model can be used in the design and optimization of in-body robotic systems, which can remotely be articulated using magnetic actuation. View full abstract»

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  • Noncontact Operation of a Miniature Cycloid Motor by Magnetic Force

    Publication Year: 2013 , Page(s): 1563 - 1571
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1355 KB) |  | HTML iconHTML  

    Noncontact operation of a cycloid motor by means of a magnetic force has been realized. The fabricated motor has a cycloid reduction system with an internal gear as a stator and an external gear as a rotor. A cylindrical permanent magnet encloses the internal gear. The internal gear generates a wobbling motion due to attractive and repulsive magnetic forces produced by external permanent magnets. An output shaft attached to an external gear is rotated by the wobbling motion of the internal stator gear. This motor can be operated by means of magnetic fields applied to one side of the device. This feature allows the device to be used in medical procedures such as bone distraction osteogenesis, in which the actuator must be inside the human body for a long period of time. Such noncontact operation of the actuator reduces the burden on the patient. The fabricated motor exhibited a maximum torque of 4.1 mN·m and a maximum linear output of 4.9 N using a screw-nut system when the gap between the outer magnets and the motor was 2mm. View full abstract»

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  • An Algebraic Recursive Method for Parameter Identification of a Servo Model

    Publication Year: 2013 , Page(s): 1572 - 1580
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (891 KB) |  | HTML iconHTML  

    This study proposes a two-step identification method for estimating the four parameters of a nonlinear model of a position-controlled servomechanism. In the first step, the proposed approach, called the algebraic recursive identification method (ARIM), uses a parametrization derived from the operational calculus currently employed in algebraic identification methods (AIM) recently proposed in the literature. The procedure for obtaining this parametrization eliminates the effect of constant disturbances affecting the servomechanism and filters out the high-frequency measurement noise. A recursive least squares algorithm uses the parametrization for estimating the linear part of the servomechanism model, and allows eliminating the singularity problems found in the AIM. The second step uses the parameters obtained in the first step for computing the Coulomb friction coefficient and the constant disturbance acting on the servomechanism. Experimental results on a laboratory prototype allow comparing the results obtained using the AIM and the ARIM. View full abstract»

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  • Generic Approach to Stability Under Time-Varying Delay in Teleoperation: Application to the Position-Error Control of a Gantry Crane

    Publication Year: 2013 , Page(s): 1581 - 1591
    Cited by:  Papers (2)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (2241 KB) |  | HTML iconHTML  

    In this paper, we develop a generic approach for modeling a teleoperation setup, as a negative single feedback loop containing a linear time-invariant block and an uncertain time-varying delay. It is not based on specific dynamics of masters and slaves, neither on any control architecture. The main added value of the proposed approach is the possibility of deriving frequency-domain conditions for robust stability in the presence of time-varying delays and parametric uncertainties. To address stability, we choose a primitive result providing a bound of certain delay subsystem. We combine this, with input-output stability criteria and μ-analysis and synthesis techniques, to reach a procedure based on the structured singular value providing less conservative results. Finally, our approach is presented within a suggested flowchart that helps the designer to manage the control parameter ranges and facilitates the gradual achievement of stability, robust stability, and performance properties. As a case study, we consider the Internet-based teleoperation of a gantry crane by means of the position-error control architecture. We have also obtained actual delay bounds appearing with UDP protocol for different Internet locations. Simulation and experimental results confirm the robust performance of the teleoperation system in terms of stability and tracking behavior. View full abstract»

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  • Robust Structure-Control Design Approach for Mechatronic Systems

    Publication Year: 2013 , Page(s): 1592 - 1601
    Cited by:  Papers (3)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1809 KB) |  | HTML iconHTML  

    In this paper, a robust formulation for the structure-control design of mechatronic systems is developed. The proposed robust approach aims at minimization of the sensitivity of the nominal design objectives with respect to uncertain parameters. The robust integrated design problem is established as a nonlinear multiobjective dynamic optimization one, which in order to consider synergetic interactions uses mechanical and control nominal design objectives. A planar parallel robot and its controller are simultaneously designed with the proposed approach when the nominal design objectives are the tracking error and the manipulability measure. The payload at the end-effector is considered as the uncertain parameter. Experimental results show that a robustly designed parallel robot presents lower sensitivity of the nominal design objectives under the effects of changes at the payload than a nonrobustly designed one. View full abstract»

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  • Estimation of Soft Tissue Mechanical Parameters From Robotic Manipulation Data

    Publication Year: 2013 , Page(s): 1602 - 1611
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (7216 KB) |  | HTML iconHTML  

    Robotic motion planning algorithms used for task automation in robotic surgical systems rely on the availability of accurate models of target soft tissue's deformation. Relying on generic tissue parameters in constructing the tissue deformation models is problematic because biological tissues are known to have very large (inter- and intrasubject) variability. A priori mechanical characterization (e.g., uniaxial bench test) of the target tissues before a surgical procedure is also not usually practical. In this paper, a method for estimating mechanical parameters of soft tissue from sensory data collected during robotic surgical manipulation is presented. The method uses force data collected from a multiaxial force sensor mounted on the robotic manipulator, and tissue deformation data collected from a stereo camera system. The tissue parameters are then estimated using an inverse finite element method. The effects of measurement and modeling uncertainties on the proposed method are analyzed in simulation. The results of experimental evaluation of the method are also presented. View full abstract»

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  • Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for Single-Port Access Surgery

    Publication Year: 2013 , Page(s): 1612 - 1624
    Cited by:  Papers (7)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (1289 KB) |  | HTML iconHTML  

    Single port access surgery (SPAS) presents surgeons with added challenges that require new surgical tools and surgical assistance systems with unique capabilities. To address these challenges, we designed and constructed a new insertable robotic end-effectors platform (IREP) for SPAS. The IREP can be inserted through a Ø15 mm trocar into the abdomen and it uses 21 actuated joints for controlling two dexterous arms and a stereo-vision module. Each dexterous arm has a hybrid mechanical architecture comprised of a two-segment continuum robot, a parallelogram mechanism for improved dual-arm triangulation, and a distal wrist for improved dexterity during suturing. The IREP is unique because of the combination of continuum arms with active and passive segments with rigid parallel kinematics mechanisms. This paper presents the clinical motivation, design considerations, kinematics, statics, and mechanical design of the IREP. The kinematics of coordination between the parallelogram mechanisms and the continuum arms is presented using the pseudo-rigid-body model of the beam representing the passive segment of each snake arm. Kinematic and static simulations and preliminary experiment results are presented in support of our design choices. View full abstract»

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  • High-Stability and Fast-Response Twisting Motion Control for the Magnetically Suspended Rotor System in a Control Moment Gyro

    Publication Year: 2013 , Page(s): 1625 - 1634
    Cited by:  Papers (1)
    Save to Project icon | Request Permissions | Click to expandQuick Abstract | PDF file iconPDF (915 KB) |  | HTML iconHTML  

    To effectively improve the stability and dynamic performance of the twisting motion of the magnetically suspended rotor in a control moment gyro, a high-stability and fast-response twisting motion control strategy named as dynamic feedback- feedforward control is proposed in this paper. This method is oriented to the feedforward control strategy and the dynamic feedback signals are employed to determine the current feedforward values. The common issues caused by twisting motion can be effectively resolved by the proposed method. To verify the feasibility and superiority of this control method, comparative simulations and experiments between the traditional method and the proposed one are carried out. View full abstract»

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  • Do what you do better with What's New @ IEEE Xplore

    Publication Year: 2013 , Page(s): 1635
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  • IEEE Global History Network

    Publication Year: 2013 , Page(s): 1636
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  • IEEE/ASME Transactions on Mechatronics information for authors

    Publication Year: 2013 , Page(s): C3
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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