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TOC Alert for Publication# 3516 2018August 16<![CDATA[Table of Contents]]>234C1C4156<![CDATA[IEEE/ASME Transactions on Mechatronics publication information]]>234C2C2122<![CDATA[Real-Time Compensation of Simultaneous Errors Induced by Optical Phase Difference and Substrate Motion in Scanning Beam Laser Interference Lithography System]]>234149115005730<![CDATA[Extended Kalman Filter-Based Active Alignment Control for LED Optical Communication]]>234150115112420<![CDATA[Positioning-Tracking Controller Design of A Linear Motion Control System Based on Vectorization Technique]]>$mathcal {H}$-representation technique is adopted to reduce the closed-loop system-matrix dimension. The stability conditions with lower computational complexity for the LSRM motion control system are obtained based on Lyapunov stability theory and the vectorization technique. The positioning-tracking controller design method is proposed according to the matrix eigenvalue numerical-analysis method. The proposed controller design method theoretically explicitly specifies the range of the designed controller gains, which can greatly reduce the burden of setting and tuning the control parameters as compared with proportion-integral-derivative parameters tuning method. Several groups of experimental tests are presented to verify the effectiveness of the proposed positioning-tracking control method for LSRM motion control systems.]]>234151215203007<![CDATA[Precision Position Tracking for Piezoelectric-Driven Motion System Using Continuous Third-Order Sliding Mode Control]]>234152115311823<![CDATA[Single Molecule Studies Enabled by Model-Based Controller Design]]>$H_2/H_infty$ optimization framework using a model-based design, that achieves the dual goals of force regulation and real-time motion estimation with quantifiable guarantees. Here, we minimize the $H_infty$ norm for the force regulation and error in step estimation while maintaining the $H_2$ norm of the noise on step estimate within user specified bounds. We demonstrate the efficacy of the framework through extensive simulations and an experimental implementation using an optical tweezer setup with live samples of the motor protein “kinesin”, where regulation of forces below 1 piconewton with errors below $text{10}%$ is obtained while simultaneously providing real-time estimates of motor motion.]]>234153215423946<![CDATA[Closed-Loop Particle Motion Control Using Laser-Induced Thermocapillary Convective Flows at the Fluid/Gas Interface at Micrometric Scale]]>$mu$ m-diameter steel spherical particle that show that the particle can be successfully displaced towards a target position. Experimental results show that maximal particle velocities between 4–9 mm/s can be attained during the control phase, which can be compared against some of the fastest actuation principles that use Marangoni effect.]]>234154315543831<![CDATA[Visual Tracking of Six-Axis Motion Rendering Ultraprecise Visual Servoing of Microscopic Objects]]>234156415723503<![CDATA[A Soft Magnetic Core can Enhance Navigation Performance of Magnetic Nanoparticles in Targeted Drug Delivery]]>234157315845011<![CDATA[Transformable <italic>In Vivo</italic> Robotic Laparoscopic Camera With Optimized Illumination System for Single-Port Access Surgery: Initial Prototype]]>in vivo robotic laparoscopic camera that features optimized illumination to address the problems, i.e. inferior lighting uniformity and low optical efficiency, in the state-of-the-art designs of in vivo laparoscopic cameras. Benefiting from the transformable structure of the robotic camera, sufficient on-board space is created without sacrificing the camera's compactness to carry three dedicatedly designed freeform optical lenses for achieving the optimized illumination requirements. Designing miniature freeform optical lenses for extended light sources, such as LEDs, is a very challenging task that usually involves solving a nonstandard Monge–Ampère equation. In this paper, we approach the illumination optical design based on a ray-mapping method that is governed by a standard Monge–Ampère equation. We propose an effective numerical solver to compute the ray-mapping solution for constructing freeform lens surfaces. Experimental results prove the predicted performance of the illumination system design: greater than $97%$ illuminance uniformity, greater than $80%$ optical efficiency, and greater than 14,323 lx illuminance on a target plane with a distance of 100 mm. The effectiveness of this prototype is also experimentally verified by performing a suturing task in a simulated abdomen.]]>234158515968044<![CDATA[Automatic Recognition of Gait Phases Using a Multiple-Regression Hidden Markov Model]]>234159716071547<![CDATA[Standing Mobility Device With Passive Lower Limb Exoskeleton for Upright Locomotion]]>234160816183617<![CDATA[Grasp and Stress Analysis of an Underactuated Finger for Proprioceptive Tactile Sensing]]>https://github.com/mahyaret.]]>234161916292740<![CDATA[A Fast Rolling Soft Robot Driven by Dielectric Elastomer]]>−1. Compared with the previous similar rolling soft robots, our robot demonstrates higher rolling speed and larger speed-mass ratio, which can find potential future use in scouting and exploration missions.]]>234163016403495<![CDATA[Three-Dimensional Modeling of a Fin-Actuated Robotic Fish With Multimodal Swimming]]>234164116524045<![CDATA[A Novel Three-Dimensional Electromagnetic Digital Actuator With 12 Discrete Positions]]>xy-plane at level z $_1$ and the remaining six discrete positions at level z$_2$. The switching of the mobile part in xy-plane is achieved by injecting currents in the fixed planar wires situated beneath it. The actuator design integrates a coil to switch the mobile part between two predefined levels in z-axis. To maintain the mobile part at a discrete position without energy consumption, six fixed cylindrical permanent magnets are placed around the mobile part. To design the actuator, a model has been developed and is presented in this paper. Rapid prototyping approach (laser cutting) is used to fabricate the actuator prototype. The maximum and the minimum strokes in xy-plane are between 0.5 to 1.0 mm while along z-axis the actuator is able to perform a stroke of 1.0 mm. Experiments have been conducted on the prototype to validate the proposed design and the 3-D actuation. The performance characterization has been conduced and the experimental and the simulated results have been compared.]]>234165316612677<![CDATA[Torque Sensor Embedded Actuator Module for Robotic Applications]]>x- and y-axis) and the sinusoidal effect from the harmonic drive make it difficult to measure torque accurately. This paper presents a novel actuator module for robotic applications that includes a torque sensor, harmonic drive, motor, and encoder. The torque sensor adopts the capacitive sensing scheme, which can allow for self-decoupling of the axial influences through the use of a symmetric arrangement of sensing cells. Moreover, the torque ripple cancellation method, which can reduce the sinusoidal effect from the harmonic drive, is introduced. Finally, the detailed design of the actuator module is described, and its performance is experimentally evaluated.]]>234166216725600<![CDATA[Continuous Friction Feedforward Sliding Mode Controller for a TriMule Hybrid Robot]]>234167316834236<![CDATA[Out-of-Plane Vibration Control of a Planar Cable-Driven Parallel Robot]]>234168416921987<![CDATA[Kinematics, Dynamics, and Control of a Cable-Driven Hyper-Redundant Manipulator]]>234169317043807<![CDATA[An Affordable Set of Control System Laboratories Using A Low-Cost Robotic Platform]]>234170517152592<![CDATA[A Novel Omnidirectional Mobile Robot With Wheels Connected by Passive Sliding Joints]]>234171617272767<![CDATA[Unified Visual Servoing Tracking and Regulation of Wheeled Mobile Robots With an Uncalibrated Camera]]>234172817391659<![CDATA[Aerial Manipulator Interactions With Trees for Canopy Sampling]]>234174017492201<![CDATA[Distributed Formation Control for Multiple Vertical Takeoff and Landing UAVs With Switching Topologies]]>234175017611970<![CDATA[Multiobjective Optimization Design of a Switched Reluctance Motor for Low-Speed Electric Vehicles With a Taguchi–CSO Algorithm]]>234176217744114<![CDATA[Fault-Tolerant Control of Electric Ground Vehicles Using a Triple-Step Nonlinear Approach]]>234177517862844<![CDATA[An Innovative Two-Layer Multiple-DOF Seat Suspension for Vehicle Whole Body Vibration Control]]>234178717995948<![CDATA[Experimental Assessment of a Controlled Slippage Magnetorheological Actuator for Active Seat Suspensions]]>234180018102677<![CDATA[Optimal Combustion Phasing Modeling and Control of a Turbulent Jet Ignition Engine]]>234181118221719<![CDATA[Dynamic Model for Magnetostrictive Systems With Applications to Damper Design]]> $mathrm{Fe_{81.6}Ga_{18.4}}$ within the structural frequency range (up to 800 Hz). The magnetic biasing is provided by applying a constant current of 500 mA on a pair of electromagnets; the mechanical excitation is a sinusoidal stress wave (3 $pm$ 0.2 MPa) superimposed on a $-$20 MPa constant stress. As stress frequency increases, the piezomagnetic coefficient decreases from 32.27 to 10.33 T/GPa and the phase lag $|Delta phi |$ increases from 11.38$^circ$ to 43.87$^circ$. A rate-dependent finite element framework decoupling eddy current loss and hysteresis loss is then developed. The model accurately reproduces the experimental results in both quasi-static and dynamic regimes. Guided by the knowledge of material properties and the finite element model, a coil-less and solid-state damper is designed which can attenuate vibrations before they propagate and induce structure-borne noise and damage. Modeling results show that the loss factor of this damper can-
be continuously tuned from 0 to a maximum value of 0.107 by adjusting the precompression on the magnetostrictive component.]]>234182318313793<![CDATA[Design of Active Controller for Low-Frequency Vibration Isolation Considering Noise Levels of Bandwidth-Extended Absolute Velocity Sensors]]>234183218424768<![CDATA[Rapid Prototyping High-Performance MR Safe Pneumatic Stepper Motors]]>$text{330 N}$, torques up to 3.7 N$cdot$m, the stepping frequency up to 320 Hz, dimensions ranging from 25 to 80 mm, free of backlash, and power up to 26 W. All five motors are constructed from six 3-D printed parts and four seals, held together by nylon screws or clips. The described stepper motors outperform state-of-the-art plastic pneumatic stepper motor designs, both in specifications and in manufacturability.]]>234184318534126<![CDATA[Reducing the Power Consumption of a Shape Memory Alloy Wire Actuator Drive by Numerical Analysis and Experiment]]>234185418655173<![CDATA[Online Reconfiguration of a Variable-Stiffness Actuator]]>234186618761836<![CDATA[Realization of an Energy-Efficient Adjustable Mechatronic Spring]]>234187718852509<![CDATA[A Method for a Precise and Instantaneous Measurement of a Refractive Index]]>−4 in RI measurement is achieved due to the ability of localizing laser stripe displacements with the subpixel accuracy and robust image processing algorithms. The uncertainty components of the proposed method are thoroughly analyzed, and it is shown that the precision can be further increased subject to the corresponding application and budget.]]>234188618963038<![CDATA[AEVE 3D: Acousto Electrodynamic Three-Dimensional Vibration Exciter for Engineering Testing]]>234189719065640<![CDATA[ODAR: Aerial Manipulation Platform Enabling Omnidirectional Wrench Generation]]>234190719182161<![CDATA[Feedforward Compensation for Suppression of Seam Boundary Error Propagation in Robotic Welding Systems]]>$H_infty$ loop-shaping technique such that the error caused by nonrepetitive disturbances in one pass is gradually eliminated, while the error caused by repetitive disturbance in every pass is suppressed. Our experimental results on an industrial robotic welding system show that the proposed control algorithms eliminate seam boundary errors caused by nonrepetitive disturbances within five passes, and a reduction of 12.8% in root mean-square-error of seam boundary error when subjected to repetitive disturbances in every filling pass.]]>234191919293306<![CDATA[Multiaxis Loading Device for Reliability Tests of Machine Tools]]>234193019406176<![CDATA[Disturbance/Uncertainty Estimator Based Robust Control of Nonminimum Phase Systems]]>$mathcal {H}_infty$ robust control to resolve this problem. Robust stability/performance is assured at the design phase. The main controller and disturbance observer are handled as a whole. The ideas are applicable to nonminimum phase systems as well. The theory is verified experimentally on a pan–tilt system and numerically on a rotary mechanical system. Comparisons with state-of-the art methods in literature show noticeable performance and robustness improvements.]]>234194119512039<![CDATA[Chance-Constraint-Based Design of Open-Loop Controllers for Linear Uncertain Systems]]>234195219633148<![CDATA[Dynamic Point-to-Point Trajectory Planning of a Three-DOF Cable-Suspended Mechanism Using the Hypocycloid Curve]]>234196419721025<![CDATA[Hankel-Norm Approach to Robust FIR Estimation of Dynamic Systems Under External Disturbances]]>234197319801160<![CDATA[Output Tracking of Nonminimum-Phase Systems via Reduced-Order Sliding-Mode Design]]>234198119921831<![CDATA[Time-Optimal Freeform S-Curve Profile Under Positioning Error and Robustness Constraints]]>234199320033647<![CDATA[Nonstationary Signal Denoising Using an Envelope-Tracking Filter]]>234200420152375<![CDATA[Robust Initial Attitude Alignment for SINS/DVL]]>23420162021979<![CDATA[Relability Design and Resilient Control for Intelligent Mechatronic System (RDRC-IMS)]]>23420222022149<![CDATA[IEEE/ASME Transactions on Mechatronics information for authors]]>234C3C399