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IEEE/ASME Transactions on Mechatronics

Issue 3 • June 2005

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  • Table of contents

    Publication Year: 2005, Page(s): c1
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  • IEEE/ASME Transactions on Mechatronics publication information

    Publication Year: 2005, Page(s): c2
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  • Time-optimal control of web-winding systems with air entrainment

    Publication Year: 2005, Page(s):257 - 262
    Cited by:  Papers (6)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (157 KB) | HTML iconHTML

    Models of web-winding systems such as tape drives often ignore the phenomenon of air entrainment, in which friction can draw a thin layer of air many layers deep into the web media wrapped on the takeup reel. Air entrainment allows a greater length of the media to vibrate freely and thus changes the spring and damping characteristics of the system and results in nonlinearities. This paper first ex... View full abstract»

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  • Modeling and control of the Mitsubishi PA-10 robot arm harmonic drive system

    Publication Year: 2005, Page(s):263 - 274
    Cited by:  Papers (52)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (513 KB) | HTML iconHTML

    The purpose of this paper is to present our results in developing a dynamic model of the Mitsubishi PA-10 robot arm for the purpose of low-velocity trajectory tracking using low-feedback gains. The PA-10 is ideal for precise manipulation tasks because of the backdrivability, precise positioning capabilities, and zero backlash afforded by its harmonic drive transmission (HDT). However, the complian... View full abstract»

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  • Use of hybrid models for testing and debugging control software for electromechanical systems

    Publication Year: 2005, Page(s):275 - 284
    Cited by:  Papers (1)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (325 KB) | HTML iconHTML

    This paper proposes a hybrid modeling language and its application to a simulator-based testing and debugging environment for the control software for electromechanical systems. The new hybrid modeling language is designed mainly focusing on simulation speed, flexibility in connecting with control software, and model reusability. This language maintains the advantages of existing hybrid modeling l... View full abstract»

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  • Hand-held steerable needle device

    Publication Year: 2005, Page(s):285 - 296
    Cited by:  Papers (78)  |  Patents (3)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (5708 KB) | HTML iconHTML

    Minimally invasive percutaneous medical procedures are widely accepted in current clinical practice. However, with current techniques, the procedures are challenging and a high level of expertise is required to perform them successfully. This paper presents a novel steerable needle device for percutaneous interventions that allows the physician to steer the tip of the needle during insertion which... View full abstract»

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  • Development of a mechatronic sorting system for removing contaminants from wool

    Publication Year: 2005, Page(s):297 - 304
    Cited by:  Papers (7)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (2047 KB) | HTML iconHTML

    Automated visual inspection (AVI) systems have been extended to many fields, such as agriculture and the food, plastic and textile industries. Generally, most visual systems only inspect product defects, and then analyze and grade them due to the lack of any sorting function. This main reason rests with the difficulty of using the image data in real time. However, it is increasingly important to e... View full abstract»

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  • Design and experiments of anticipatory learning control: frequency-domain approach

    Publication Year: 2005, Page(s):305 - 313
    Cited by:  Papers (37)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (286 KB) | HTML iconHTML

    A frequency-domain design is presented for the anticipatory learning control. Convergence conditions are derived in terms of two design parameters, the lead-time and the learning gain. For minimum phase systems, the design of the anticipatory learning control in the frequency domain is decoupled into a two-step procedure. The design is robust against uncertainties in system modeling. The effective... View full abstract»

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  • Automatic locomotion design and experiments for a Modular robotic system

    Publication Year: 2005, Page(s):314 - 325
    Cited by:  Papers (105)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (847 KB) | HTML iconHTML

    This paper presents a design method and experiments for whole-body locomotion by a modular robot. There are two types of locomotion for modular robots: a repeating self-reconfiguration and whole-body motion such as walking or crawling. For whole-body locomotion, designing a control method is more difficult than for ordinary robots because a modular robotic system can form various configurations, e... View full abstract»

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  • Modeling and control of dispensing processes for surface mount technology

    Publication Year: 2005, Page(s):326 - 334
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (424 KB) | HTML iconHTML

    Dispensing is a key process in surface mount technology (SMT), in which minute amounts of fluid materials (such as solder paste, adhesive) are delivered controllably onto printed circuit boards for the purpose of conducting, bonding, etc. Time-pressure dispensing by means of pressurized air is currently the most widely used approach in SMT. Due to air compressibility, the control of the time-press... View full abstract»

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  • A magnetically driven linear microactuator with new driving method

    Publication Year: 2005, Page(s):335 - 338
    Cited by:  Papers (10)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (264 KB) | HTML iconHTML

    Electromagnetically driven microactuators are of interest because they have the potential to generate large deflections. Thus, we have been studying magnetically driven microactuators. This time, a magnetically driven linear microactuator has been newly developed by using microfabrication techniques. The microactuator is composed of a mobile microplatform (mover) with some permanent magnets (PMs) ... View full abstract»

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  • Uncoupling micromachined-based piezoelectric accelerometer performance from a sensor structure transfer function

    Publication Year: 2005, Page(s):338 - 341
    Cited by:  Papers (2)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (179 KB) | HTML iconHTML

    A smart structure technology for autonomous gain and phase tailoring was adapted to develop a new accelerometer that possesses both an excellent low-frequency response and a high operational bandwidth. The freedom associated with the uncoupling of the gain and phase tailoring to an accelerometer-based structure transfer function can be shown to vastly expand the performance area of traditional acc... View full abstract»

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  • Intersample ripple-free multirate control with application to a hard disk drive servo

    Publication Year: 2005, Page(s):341 - 345
    Cited by:  Papers (9)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (156 KB) | HTML iconHTML

    This paper discusses the intersample ripple problem in multirate control design. Supplementations and corrections have been made to the multirate control scheme proposed in . Moreover, the proposed method is applied to a 5.25-in hard disk drive servo system. The experimental results show that the proposed method can handle the intersample ripples existing in the conventional design very well and t... View full abstract»

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  • Orientation control of a differential mobile robot through wheel synchronization

    Publication Year: 2005, Page(s):345 - 351
    Cited by:  Papers (12)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (327 KB) | HTML iconHTML

    This paper presents the orientation control of a differential mobile robot through the synchronization of the motions of two driving wheels, using an adaptive coupling control algorithm. The orientation error is usually caused by the synchronization error between two driving wheels and has the largest impact on the motion accuracy. The proposed controller incorporates the cross-coupling technology... View full abstract»

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  • Visual servoing to catch fish using global/local GA search

    Publication Year: 2005, Page(s):352 - 357
    Cited by:  Papers (37)
    Request permission for commercial reuse | Click to expandAbstract | PDF file iconPDF (407 KB) | HTML iconHTML

    This paper presents a vision-related technique for a real-time visual servoing. The method utilizes the global search feature of a genetic algorithm (GA) and a local search technique of the GA. In the GA process, the computation of the fitness function is based on the configuration of an object model designated as the surface-strips model. To evaluate the effectiveness of the proposed recognition ... View full abstract»

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    Publication Year: 2005, Page(s): 358
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    Publication Year: 2005, Page(s): 359
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  • IEEE order form for reprints

    Publication Year: 2005, Page(s): 360
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  • IEEE/ASME Transactions on Mechatronics Information for authors

    Publication Year: 2005, Page(s): c3
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  • Blank page [back cover]

    Publication Year: 2005, 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