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IEEE/ASME Transactions on Mechatronics

Issue 4 • Dec. 2000

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Displaying Results 1 - 15 of 15
  • 2000 Index IEEE Transactions on Mechatronics Vol. 5

    Publication Year: 2000, Page(s):1 - 8
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    Freely Available from IEEE
  • Hysteresis compensation in electromagnetic actuators through Preisach model inversion

    Publication Year: 2000, Page(s):394 - 409
    Cited by:  Papers (98)  |  Patents (4)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (404 KB)

    In this paper, the classical Preisach independent domain model is used to capture the essential characteristics of hysteresis nonlinearity in electromagnetic (EM) actuators made of soft ferromagnetic material. Experimental results demonstrate its ability to accurately model electromagnetic hysteresis for variations in input current, airgap, and orientation. The Preisach model is then inverted and ... View full abstract»

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  • Modeling piezoelectric actuators

    Publication Year: 2000, Page(s):331 - 341
    Cited by:  Papers (303)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (204 KB)

    The piezoelectric actuator (PEA) is a well-known device for managing extremely small displacements in the range from 10 pm to 100 μm. When developing a control system for a piezo-actuated positioning mechanism, the actuator dynamics have to be taken into account. An electromechanical piezo model, based on physical principles, is presented in this paper. In this model, a first-order differential... View full abstract»

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  • Reliability by Robust Design for optical alignment in a CD pickup

    Publication Year: 2000, Page(s):386 - 393
    Cited by:  Papers (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (328 KB)

    Micron-level alignment of optical components in the laser pickup of a compact disc (CD) system is critical for its performance. The robustness of the rotational alignment of the laser/diffraction grating unit (LDGU) is studied in detail using finite element analysis and Robust Design tools. Robust design simulations were constructed in terms of the process capability indices Cp, C... View full abstract»

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  • A miniature piezoelectric ultrasonic motor based on circular bending vibration mode

    Publication Year: 2000, Page(s):325 - 330
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (108 KB)

    A rod-type miniature piezoelectric ultrasonic motor based on free-free bending vibration mode with improved construction was developed for application of precise positioner. The design methodology, construction, and operation principle of the motor are presented. By using the finite element method, the motor's vibration modes and driving mechanism were modeled. The characteristics of the prototype... View full abstract»

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  • Development of a multi-behavior based mobile robot for remote supervisory control through the Internet

    Publication Year: 2000, Page(s):376 - 385
    Cited by:  Papers (70)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (280 KB)

    We review the networked mobile robot systems and suggest taxonomy based on the three levels of control commands. The performance analysis result shows that direct control has potential difficulty for implementation due to the unpredicted transmission delay of the network. To tackle this problem, we have suggested the behavior-programming control concept to avoid disturbances of the Internet latenc... View full abstract»

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  • Enhanced contour control of SCARA robot under torque saturation constraint

    Publication Year: 2000, Page(s):437 - 440
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (160 KB)

    Contour control of a robot arm is an act of the end-effector tip being moved along a reference Cartesian path, with an assigned velocity. When torque saturation occurs, and lasts for some time, contour deteriorations result. In addition, system delay dynamics also causes contour deteriorations. In this paper, an offline trajectory generation algorithm is described, which achieves both optimum avoi... View full abstract»

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  • Workspace and singularity analysis of a double parallel manipulator

    Publication Year: 2000, Page(s):367 - 375
    Cited by:  Papers (19)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (256 KB)

    A double parallel manipulator (DPM) is composed of two parallel mechanisms with a central aids. The device is expected to have large workspace by reducing interference between links and to avoid singularity by constraining its motion. To prove this, workspace and singularity are analyzed. The workspace of the device is decoupled into a positional and an orientational workspace, each of which is co... View full abstract»

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  • Adaptive control of time-varying mechanical systems: analysis and experiments

    Publication Year: 2000, Page(s):410 - 418
    Cited by:  Papers (20)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (228 KB)

    A new adaptive controller for time-varying mechanical systems is proposed based on two assumptions: 1) the dynamics of time-varying mechanical systems is derived under the assumption that the generalized constraints on the system do not depend on time but the system parameters, such as masses and payloads are time-varying; and 2) the time-varying parameters are given by a group of known bounded ti... View full abstract»

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  • New hybrid controller for systems with deterministic uncertainties

    Publication Year: 2000, Page(s):342 - 348
    Cited by:  Papers (8)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (168 KB)

    In this paper, a new hybrid controller for systems with deterministic uncertainties is developed. The proposed controller identifies and compensates deterministic uncertainties simultaneously. It is the combination of a time-domain feedback controller and a frequency-domain iterative learning controller. The feedback controller decreases system variability and reduces the effect of random disturba... View full abstract»

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  • Design of a linear piezomotor with ultra-high stiffness and nanoprecision

    Publication Year: 2000, Page(s):441 - 443
    Cited by:  Papers (23)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (76 KB)

    An ultra-stiff nanoprecision linear piezomotor was recently designed for grinding application. This piezomotor consists of three high-voltage piezoelectric actuators integrated by a monolithic flexure frame. This monolithic frame was designed to have multiple functions such as protecting and pre-loading three piezoelectric actuators and withstanding all the shearing forces during operation. The mo... View full abstract»

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  • Adaptive vibration isolation for axially moving beams

    Publication Year: 2000, Page(s):419 - 428
    Cited by:  Papers (28)  |  Patents (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (284 KB)

    Manufacture and use of metal bands, sheets, and cables often requires high-speed axial transport of the material. Disturbance forces can cause vibration to propagate through the process due to the bending stiffness coupling between adjacent roller-supported spans. This paper introduces an active pivoting roller that adaptively decouples adjacent spans, thereby isolating a controlled span from boun... View full abstract»

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  • The Illinois Roadway Simulator: a mechatronic testbed for vehicle dynamics and control

    Publication Year: 2000, Page(s):349 - 359
    Cited by:  Papers (18)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (276 KB)

    The Illinois Roadway Simulator (IRS) is a novel, mechatronic, scaled testbed used to study vehicle dynamics and controls. An overview of this system is presented, and individual hardware issues are addressed. System modeling results on the vehicles and hardware are introduced, and comparisons of the resulting dynamics are made with full-sized vehicles. Comparisons are made between dynamic response... View full abstract»

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  • Dielectric sensor for detecting capsules moving through pipelines

    Publication Year: 2000, Page(s):429 - 436
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (136 KB)

    Recent advancement in the technology of hydraulic capsule pipeline (HCP) for transporting freight in capsules has made it imperative to use a practical sensor to detect capsule movement in pipelines. The detection of capsules is especially needed in the pump bypass of HCPs for the control of valves that must be opened and closed periodically and frequently without touching and damaging the capsule... View full abstract»

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  • Accuracy improvement of built-in torque sensing for Harmonic Drives

    Publication Year: 2000, Page(s):360 - 366
    Cited by:  Papers (15)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (156 KB)

    Built-in torque sensing for Harmonic Drives is attractive since it maintains mechanical characteristics of the gear while providing detection of the transmitted torque. Torque sensing by using strain gauges has been studied, but is not widely used yet due to a relatively high signal fluctuation, which is generated by the gear operation. Characteristics of the signal fluctuation are analyzed in thi... View full abstract»

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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