# IEEE/ASME Transactions on Mechatronics

## Issue 99

Early Access articles are new content made available in advance of the final electronic or print versions and result from IEEE's Preprint or Rapid Post processes. Preprint articles are peer-reviewed but not fully edited. Rapid Post articles are peer-reviewed and edited but not paginated. Both these types of Early Access articles are fully citable from the moment they appear in IEEE Xplore.

## Filter Results

Displaying Results 1 - 25 of 50
• ### Electrical Machines for Automotive Electrically Assisted Turbocharging

Publication Year: 2018, Page(s): 1
| | PDF (1302 KB)

This paper introduces Electrically Assisted Turbocharging (EAT) together with the requirements and challenges in selecting an electrical machine for the application. In an effort to identify the most appropriate technology, a detailed, quantitative, multi-domain comparison between Induction, Permanent Magnet and Switched Reluctance Machines an effort is conducted. The study presented puts equal we... View full abstract»

• ### Three-Dimensional Modeling of a Fin-Actuated Robotic Fish with Multimodal Swimming

Publication Year: 2018, Page(s): 1
| | PDF (10283 KB)

Dynamical model is always an important factor in controller design for robots. Existing models of robotic fish typically incorporate only planar motion, rarely considering spatial motion. This paper formulates a complete 3D dynamic model for the robotic fish actuated by pectoral and caudal fins, in which the fluid forces mainly contain quasi-steady lift and drag, gravity and buoyancy, and waterjet... View full abstract»

• ### Out-of-plane Vibration Control of a Planar Cable-Driven Parallel Robot using a Multi-Axis Reaction System

Publication Year: 2018, Page(s): 1
| | PDF (20472 KB) |  Media

A robust MIMO sliding mode control strategy is proposed for out-of-plane stabilization of the end-effector of a planar cable-driven parallel robot using an underactuated multibody multi-axis reaction system governed by nonlinear equations of motion. Low manipulator stiffnesses in the non-planar directions is one of the concerns regarding accurate positioning of the end-effector for planar cable-dr... View full abstract»

• ### Grasp and Stress Analysis of an Underactuated Finger for Proprioceptive Tactile Sensing

Publication Year: 2018, Page(s): 1
| | PDF (12478 KB)

This paper presents the design and evaluation of a new sensorized underactuated self-adaptive finger. The design incorporates a two-degrees-of-freedom (DOF) link-driven underactuated mechanism with an embedded load cell for contact force measurement and a trimmer potentiometer for acquiring joint variables. The utilization of proprioceptive (internal) sensors results in tactile-like sensations in ... View full abstract»

• ### Distributed Formation Control for Multiple Vertical Takeoff and Landing UAVs with Switching Topologies

Publication Year: 2018, Page(s): 1
| | PDF (5528 KB)

This paper proposes a distributed formation control approach for a team of vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) subject to switching topologies. The communication topology among UAVs is allowed to be with weak connectivity, in the sense of satisfying a uniformly jointly connected assumption. Since VTOL UAV systems are typically under-actuated, a hierarchical framewor... View full abstract»

• ### A Soft Magnetic Core Can Enhance Navigation Performance of Magnetic Nanoparticles in Targeted Drug Delivery

Publication Year: 2018, Page(s): 1
| | PDF (5519 KB)

Magnetic nanoparticles (MNPs) are a promising candidate for use as carriers in drug delivery systems. A navigation system with real-time actuation and monitoring of MNPs is inevitably required for more precise targeting and diagnosis. In this paper, we propose a novel electromagnetic navigation system with a coil combined with a soft magnetic core. This system can be used for magnetic particle ima... View full abstract»

• ### Closed-loop particle motion control using laser-induced thermocapillary convective flows at the fluid/gas interface at micrometric scale

Publication Year: 2018, Page(s): 1
| | PDF (4252 KB) |  Media

Non-contact actuation has gained a large interest over the last few years, and many works have been performed on magnetic actuation, dielectrophoresis or optical tweezers. Thermocapillary convective flows are an attractive alternative to manipulate micrometric scale particles at the water/air interface. These flows are generated when a surface tension stress is generated at the fluid/gas interface... View full abstract»

• ### Design of Active Controller for Low-frequency Vibration Isolation Considering Noise Levels of Bandwidth-Extended Absolute Velocity Sensors

Publication Year: 2018, Page(s): 1
| | PDF (2936 KB)

The low-frequency performance of active vibration isolation system (AVIS) depends on the low-frequency measurement ability of inertial sensor such as geophone. Bandwidth extension-based methods may serve as a cost-effective solution to increase the low-frequency measurement accuracy of geophone, but suffered the deteriorations of noise. Traditionally, the available extension bandwidth of geophone ... View full abstract»

• ### An Affordable Set of Control System Laboratories Using A Low-Cost Robotic Platform

Publication Year: 2018, Page(s): 1
| | PDF (2707 KB)

The development of an inexpensive robotic platform is presented. Our aim is to provide a complete low-cost hardware tool to illustrate control system methods. The capabilities of this platform allow both, researchers and students, to implement from basic techniques to complex ones (e.g., from model-based control techniques to multi-agent dynamical systems). The hardware that has been designed and ... View full abstract»

• ### Realization of an Energy-efficient Adjustable Mechatronic Spring

Publication Year: 2018, Page(s): 1
| | PDF (2069 KB)

Although semi-active variable mechanical dampers are well-known and highly developed concepts, creating efficient variable-stiffness has remained a challenge. In this paper, a brushless DC motor combined with a mechanical motion converter are utilized to synthesize the behavior of a mechanical spring. It is shown that synthesizing resistive and inductive elements in the motor shunt circuit can cre... View full abstract»

• ### Magnetic Position Estimation in Ferromagnetic Systems Involving Significant Hysteresis

Publication Year: 2018, Page(s): 1
| | PDF (7658 KB)

The proximity of a magnetic sensor to a magnet has been utilized for position measurement in many applications involving small ranges of motion. However, such position measurement becomes challenging when the application involves a ferromagnetic environment and larger ranges of motion. The movement of a magnet magnetizes and demagnetizes the ferromagnetic surroundings and creates significant hyste... View full abstract»

• ### Dynamic point-to-point trajectory planning of a three-dof cable-suspended mechanism using the hypocycloid curve

Publication Year: 2018, Page(s): 1
| | PDF (1460 KB) |  Media

This paper proposes a dynamic trajectory planning technique for the point-to-point motion of three-degree-of-freedom (three-dof) cable-suspended mechanisms. The trajectory path is inspired from a hypocycloid curve that is embedded in the plane defined by the acceleration vector at the initial point and the final point. The proposed motion ensures zero instantaneous velocity at each of the endpoint... View full abstract»

• ### A Novel Omnidirectional Mobile Robot with Wheels Connected by Passive Sliding Joints

Publication Year: 2018, Page(s): 1
| | PDF (1483 KB)

Mobile robots for automatically transporting products in factories and warehouses contribute to an increase in efficiency. Omnidirectional mobile robots can move immediately in an arbitrary direction and overcome the disadvantages of lack of mobility in conventional mobile robots. However, the omnidirectional mobile robots proposed in the past have not been as reliable as the conventional mobile r... View full abstract»

• ### Visual Tracking of 6-Axis Motion Rendering Ultra Precise Visual Servoing of Microscopic Objects

Publication Year: 2018, Page(s): 1
| | PDF (905 KB)

This paper presents visual tracking of 6-axis motion that renders ultra-precise visual servoing of microscopic objects. The principle of 3-axis out-of-plane motion tracking is based on three-degree-of-freedom (3-DOF) laterally sampled white light interferometry (LSWLI) and real-time unbiased non-linear parameter estimation of orientation-dependent interference fringes. A continuously shifting mode... View full abstract»

• ### Kinematics, Dynamics and Control of a Cable-driven Hyper-Redundant Manipulator

Publication Year: 2018, Page(s): 1
| | PDF (1850 KB)

A cable-driven hyper-redundant manipulator (CDHM) has superior dexterity for confined space applications. However, the modeling and control considering the cables are very complex. In this paper, we established the kinematics and dynamics models and proposed a dynamics control strategy. The multi-level mapping between the motors, cables, joints and end-effector was first analyzed. The correspondin... View full abstract»

• ### Multi-Axis Loading Device for Reliability Tests of Machine Tools

Publication Year: 2018, Page(s): 1
| | PDF (1614 KB)

Reliability of machine tools is critical to high-efficiency manufacturing, and the failure data of feeding systems are requisite to analyze the reliability. This paper presents a multi-axis loading device (MLD) to simulate loading condition of an operating feeding system of a machine tool in a real machining process; this could cause breakdowns of the system and collect failure data. The MLD was d... View full abstract»

• ### AEVE 3D: Acousto Electrodynamic 3-Dimensional Vibration Exciter for Engineering Testing

Publication Year: 2018, Page(s): 1
| | PDF (16032 KB)

A high percentage of failures in sensors and devices employed in harsh industrial environments and airborne electronics is due to mechanical vibrations and shocks. Therefore, it is of paramount importance to test equipment reliability and ensure its survival in long missions in the presence of physical fluctuations. Traditional vibration testbeds employ unidirectional acoustic or mechanical excita... View full abstract»

• ### Real-Time Compensation of Simultaneous Errors Induced by Optical Phase Difference and Substrate Motion in Scanning Beam Laser Interference Lithography System

Publication Year: 2018, Page(s): 1
| | PDF (1835 KB)

Recent advances in display electronics, and micro- and nanophotonics have prompted development of novel nanofabrication technologies that enable production of high-fidelity periodic patterns over a large-area substrate. Scanning beam laser interference lithography (SBLIL) is a high-speed manufacturing process of such high-precision nanogratings; however, the precision of the nanopatterns produced ... View full abstract»

• ### A Novel 3-D Electromagnetic Digital Actuator with 12 Discrete Positions

Publication Year: 2018, Page(s): 1
| | PDF (3347 KB) |  Media

This paper presents a 3D digital electromagnetic actuator able to reach 12 discrete positions distributed in three-dimensional space. The mobile part of this actuator includes a cuboid permanent magnet fixed in a hexagonal casing. The mobile part is able to reach six discrete positions in xy-plane at level z$_{1}$ and the remaining six discrete positions at level z View full abstract»

• ### Online reconfiguration of a variable-stiffness actuator

Publication Year: 2018, Page(s): 1
| | PDF (1518 KB)

This manuscript presents an algorithm to adjust the configuration of a variable-stiffness actuator to reduce its electrical energy requirements during the execution of repetitive tasks. The algorithm is based on the gradient descent optimization method with a modification of the adaptation step size, a forgetting term, and a projection rule to cope with the variation of the actual objective functi... View full abstract»

• ### Extended Kalman Filter-based Active Alignment Control for LED Optical Communication

Publication Year: 2018, Page(s): 1
| | PDF (1716 KB) |  Media

Light-emitting diode (LED)-based optical communication is emerging as a low-power, low-cost and high-data rate alternative to acoustic communication for mobile applications underwater. However, it requires a close-to-line-of-sight link between the transmitter and the receiver. Alignment for maintaining line-of-sight (LOS) is challenging due to the constant movement of underlying mobile platforms c... View full abstract»

• ### A Fast Rolling Soft Robot Driven by Dielectric Elastomer

Publication Year: 2018, Page(s): 1
| | PDF (1194 KB) |  Media

This paper presents a fast rolling soft robot (RSR) driven by dielectric elastomer (DE). Through novel structure design based on multisegment dielectric elastomer minimum energy structure, the robot appears to be a fully flexible circular configuration with excellent ability of active deformation for its body controlled by applied voltages. An equivalent pseudo-rigid-body model is developed to pro... View full abstract»

• ### Transformable In-Vivo Robotic Laparoscopic Camera with Optimized Illumination System for Single-port Access Surgery: Initial Prototype

Publication Year: 2018, Page(s): 1
| | PDF (7824 KB)

This paper presents an initial prototype of an 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 ... View full abstract»

• ### Rapid Prototyping High-Performance MR Safe Pneumatic Stepper Motors

Publication Year: 2018, Page(s): 1
| | PDF (78662 KB) |  Media

In this paper we show that pneumatic stepper motors for MR safe robots can be constructed using rapid prototyping techniques such as 3-D printing and laser-cutting. The designs are lightweight, completely metal-free and fully customizable. Besides MR safe robotic systems, other potential applications include high-voltage switchgear and nuclear power plant systems which also restrict electric actua... View full abstract»

• ### Chance Constraint based Design of Open-Loop Controllers for Linear Uncertain Systems

Publication Year: 2018, Page(s): 1
| | PDF (921 KB)

This paper considers the problem of state-to-state transition with state and control constraints, for a linear system with time invariant model parameter uncertainties. Polynomial chaos is used to transform the stochastic model to a deterministic surrogate model. This surrogate model is used to pose a chance constrained optimal control problem where the state constraints and the residual energy co... View full abstract»

## 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.

Full Aims & Scope

## Meet Our Editors

Editor-in-Chief
George Chiu
Purdue University
West Lafayette, IN USA
gchiu@purdue.edu