# IEEE/ASME Transactions on Mechatronics

### Early Access Articles

Early Access articles are made available in advance of the final electronic or print versions. Early Access articles are peer reviewed but may not be fully edited. They are fully citable from the moment they appear in IEEE Xplore.

## Filter Results

Displaying Results 1 - 25 of 46
• ### Diagnosis and Prognosis of Degradation Process via Hidden Semi-Markov Model

Publication Year: 2018, Page(s): 1
| | PDF (2521 KB)

The intelligent estimation of degradation state and prediction of remaining useful life (RUL) are important to the maintenance of industrial equipment. In this study, the degradation process of equipment is modeled as an improved hidden semi-Markov model (HSMM), in which the dependence of durations of adjacent degradation states is described and modeled in the HSMM. To avoid underflow problem in c... View full abstract»

• ### Model Predictive Control of a Hydraulic Multi-Chamber Actuator: A Feasibility Study

Publication Year: 2018, Page(s): 1
| | PDF (5879 KB)

This paper presents a model predictive control strategy for a hydraulic multi-chamber actuator. The actuator of interest is a hydraulic cylinder with four cylinder chambers connected to a common pressure rail through a set of hydraulic valves. The control challenge is to achieve accurate force control with preserved energy efficiency at all times. Model predictive control is here used to overcome ... View full abstract»

• ### Ego-Motion Estimation of a Quadrotor Based on Nonlinear Observer

Publication Year: 2018, Page(s): 1
| | PDF (1356 KB)

In this paper, The ego-motion estimation problem of a quadrotor unmanned aerial vehicle is studied. A nonlinear observer is proposed to simultaneously estimate the depth of the point features and the translational velocity of the quadrotor using visual feedback from an on-board monocular camera. Image moments defined on a rotated image plane are chosen as image features, and a decoupled image feat... View full abstract»

• ### A High-Performance Cable-Drive Module for the Development of Wearable Devices

Publication Year: 2018, Page(s): 1
| | PDF (7704 KB)

Bowden cables are frequently used as remote transmissions on wearable devices, because of their light weight, simplicity and flexibility of design. However, a Bowden cable suffers from inefficiency, nonlinear backlash, and cable tension variation due to the bending of the cable housing and friction losses, leading to deteriorating force control performance and thus a wearers comfort level and augm... View full abstract»

• ### A Fast and Efficient Double-tree RRT*-like Sampling-based Planner Applying on Mobile Robotic Vehicles

Publication Year: 2018, Page(s): 1
| | PDF (24687 KB)

As a variant of RRT (Rapidly-exploring Random Tree), RRT* is an important improvement of sampling-based algorithms. Although it can provide a feasible planning solution with higher quality, more resources on optimization are required, resulting a very slow convergence rate, which cannot satisfy the real-time requirements of most autonomous systems. In this paper, we propose a novel approach of RRT... View full abstract»

• ### Dynamic path tracking of industrial robots with high accuracy using photogrammetry sensor

Publication Year: 2018, Page(s): 1
| | PDF (4475 KB)

In this paper, a practical dynamic path tracking (DPT) scheme of a 6-DOF industrial robot is presented. The DPT scheme is a position-based visual servoing (PBVS) to realize 3D dynamic path tracking by correcting the robot movement in real time. In the traditional task-implementation mode for industrial robots, the task planning and implementation are taught manually and hence the task accuracy lar... View full abstract»

• ### Comments on "Continuous Integral Terminal Third-Order Sliding Mode Motion Control for Piezoelectric Nanopositioning System"

Publication Year: 2018, Page(s): 1
| | PDF (158 KB)

In the above paper [1], there are some errors directly related to the major results drawn. This note is thus aimed at providing a correct version of the paper [1]. View full abstract»

• ### Design and Implementation of a Hybrid UAV with Model-Based Flight Capabilities

Publication Year: 2018, Page(s): 1
| | PDF (2929 KB)

Hybrid UAV is an attractive design concept in the last decade for its superiority in combining vertical take-off and landing (VTOL) and cruise flight capabilities. In this work, we present a systematic design methodology from bottom up for an innovative tail-sitter UAV platform, named J-Lion. Implementation details are included with all design considerations and trade-offs. All subsystem dynamics ... View full abstract»

• ### Iterative Maximum Likelihood FIR Estimation of Dynamic Systems with Improved Robustness

Publication Year: 2018, Page(s): 1
| | PDF (789 KB)

In this paper, an iterative maximum likelihood (ML) finite impulse response (FIR) filter is proposed for discrete-time state estimation in dynamic mechanical systems with better robustness than by the Kalman filter (KF). The ML FIR filter and the error covariance matrix are derived in batch forms and further represented with fast iterative algorithms to have a clearer insight into the ML FIR filte... View full abstract»

• ### Accurate and Real-time 3D Tracking for the Following Robots by Fusing Vision and Ultra-sonar Information

Publication Year: 2018, Page(s): 1
| | PDF (5073 KB) |  Media

Acquiring the accurate 3D position of a target person around a robot provides valuable information that is applicable to a wide range of robotic tasks, especially for promoting the intelligent manufacturing processes of industries. This paper presents a real-time robotic 3D human tracking system which combines a monocular camera with an ultrasonic sensor by the extended Kalman filter (EKF). The pr... View full abstract»

• ### Robust Tracking Control of Quadrotors based on Differential Flatness: Simulations and Experiments

Publication Year: 2018, Page(s): 1
| | PDF (2108 KB)

We introduce a new exponentially convergent trajectory tracking control law based on the fully nonlinear quadrotor model subject to unknown disturbances and modeling uncertainties. The approach takes advantage of the system's differential flatness property to relate the second time derivative of linear accelerations (snap) to the roll and pitch moments. Using these model-based relations, the close... View full abstract»

• ### Observer-based fault tolerant controller for uncertain Steer-by-Wire systems using the delta operator

Publication Year: 2018, Page(s): 1
| | PDF (2982 KB)

A fault tolerant control for vehicle Steer-by-Wire (SbW) systems in the presence of actuator fault and bounded uncertainties is proposed. The minimax model predictive control (MPC) in the delta-domain is exploited to achieve the tracking performance under actuator fault, system uncertainties and disturbance. The feedback control action based on estimation error in parallel with the minimax MPC con... View full abstract»

• ### Optimization and Testing of a New Prototyped Hybrid MR Brake with Arc Form Surface as a Prosthetic Knee

Publication Year: 2018, Page(s): 1
| | PDF (1292 KB)

In the present research, a new configuration of the hybrid MR brake via T-shaped drum with an arc form surface boundary -the biomechanical geometric design of the hybrid MR brake as a prosthetic knee- is discussed and experimentally tested. The main purpose of this study is to develop a prosthetic knee with one rotary disc to fulfill the desired objective. To achieve this, three steps are consider... View full abstract»

• ### Development of A Novel Continuum Robotic System for Maxillary Sinus Surgery

Publication Year: 2018, Page(s): 1
| | PDF (1315 KB)

Lesions in the maxillary sinus area are usually treated with endoscopic interventional surgery. However, target lesions are often hardly accessible with conventional surgical tools. A new continuum module is proposed with a bending manipulator to perform maxillary sinus surgery. The developed manipulator has a NiTiNol tube embedded in its continuum module. It has a diameter of 4 mm and can be bent... View full abstract»

• ### A Master-Slave Integrated Surgical Robot with Active Motion Transformation using Wrist Axis

Publication Year: 2018, Page(s): 1
| | PDF (6666 KB)

In this paper, a surgical robot system for laparoscopic surgery is proposed. Instead of commanding the manipulator from the remote master console, the proposed system integrates the master controller into the proximal end of the slave manipulator. The slave has a flexible wrist joint, whose bending angle is operated by a joystick on the master. Focusing on suturing of a curved needle, which is a c... View full abstract»

• ### Sensorless PMSM Drive Based on Stator Feedforward Voltage Estimation Improved With MRAS Multi-Parameter Estimation

Publication Year: 2018, Page(s): 1
| | PDF (773 KB)

In order to reduce the adverse effect of parameter variation in position sensorless speed control of permanent magnet synchronous motor (PMSM) based on stator feedforward voltage estimation (FFVE), multi-parameter estimation using model reference adaptive system (MRAS) is proposed. Since the FFVE scheme relies on motor parameters, the stator resistance and rotor flux linkage are estimated and cont... View full abstract»

• ### Effects of Rotor Position Error on Longitudinal Vibration of Electric Wheel System in In-wheel PMSM Driven Vehicle

Publication Year: 2018, Page(s): 1
| | PDF (1019 KB)

The influence of the rotor position error on the longitudinal vibration of the electric wheel system is analyzed. To begin with, the influence of the rotor position error on the motor current and torque is deduced using coordinate transformation. The results show that the rotor position error will induce current harmonics, which cause further torque ripples with frequencies of kpres/pfe and (6 View full abstract»

• ### A Method to Realize Accurate Dynamic Feedforward Control of a Spray-Painting Robot for Airplane Wings

Publication Year: 2018, Page(s): 1
| | PDF (2519 KB)

The dynamic characteristic has an important effect on the motion precision of a robot and dynamic feedforward control is an effective approach to reduce the effect. However, it is difficult to realize the accurate dynamic feedforward control in an industrial servo system and determine the feedforward coefficients. This paper proposes a method to realize the accurate dynamic feedforward control of ... View full abstract»

• ### A DMPs-based Framework for Robot Learning and Generalization of Human-like Variable Impedance Skills

Publication Year: 2018, Page(s): 1
| | PDF (32699 KB)

One promising approach for robots efficiently learning skills is to learn manipulation skills from human tutors by demonstration and then generalize these learned skills to complete new tasks. Traditional learning and generalisation methods, however, have not well considered human impedance features, which makes the skills less human-like and restricted in physical human-robot interaction (pHRI) s... View full abstract»

• ### Echo State Networks-Based Data-Driven Adaptive Fault Tolerant Control with Its Application to Electromechanical System

Publication Year: 2018, Page(s): 1
| | PDF (4062 KB) |  Media

This paper is concerned with the echo state networks (ESNs) based adaptive sensor fault detection mechanism and fault tolerant control (FTC) design approach for a class of multi-input single-output (MISO) discrete-time model free systems in the data-based framework. The main feature of the paper is the novel realization of fault detection and estimation (FDE) and FTC for the considered systems. Be... View full abstract»

• ### Collision-free Navigation of Autonomous Vehicles using Convex Quadratic Programming-based Model Predictive Control

Publication Year: 2018, Page(s): 1
| | PDF (10161 KB)

Collision-free navigation of autonomous vehicles by means of convex quadratic programming (CQP)-based model predictive control (MPC) is considered in this paper. A new collision-free navigation function is designed for real time collision avoidance of autonomous vehicle in both static and dynamic environments. Furthermore, vehicle shape is taken into consideration during trajectory generation as a... View full abstract»

• ### High-Precision Automated Micromanipulation and Adhesive Microbonding with Cantilevered Micropipette Probes in Dynamic Probing Mode

Publication Year: 2018, Page(s): 1
| | PDF (2314 KB)

In this paper, we present a method for conducting automated micromanipulation that uses a cantilevered micropipette probe (CMP), which is capable of high-sensitivity contact detection. A dynamic probing method is proposed to achieve highly precise and nondestructive micromanipulation with the slightly oscillating CMP (amplitude: ~5 nm, the 1$^{st}$ resonance mode). By... View full abstract»

• ### Robust Tracking and Disturbance Rejection for Linear Uncertain System with Unknown State Delay and Disturbance

Publication Year: 2018, Page(s): 1
| | PDF (4303 KB)

A robust tracking control method is presented in this paper for an uncertain plant with an unknown state delay and an exogenous disturbance. The effects of the uncertainties, the delay, and the exogenous disturbance are treated as a total disturbance, thus the construction of the observer does not need the delay information. The system design is divided into the design of the gains of the state-fe... View full abstract»

• ### An Ontology-based Resource Reconfiguration Method for Manufacturing Cyber-Physical Systems

Publication Year: 2018, Page(s): 1
| | PDF (481 KB)

The introduction of Industry 4.0 and rapid development of Manufacturing Cyber-Physical Systems (MCPS), as well as the increasing demand for multi-variety, small batch and personalized customization, pose a huge challenge to the traditional manufacturing systems. In order to meet the production requirements for fast iteration and realize agile and efficient manufacturing resource allocation, this p... View full abstract»

• ### Absolute Attitude Estimation of Rigid Body on Moving Platform Using Only Two Gyroscopes and Relative Measurements

Publication Year: 2018, Page(s): 1
| | PDF (4479 KB)

Many outdoor activities such as bicycling, driving, and riding Segways can be modeled as rigid bodies on a moving platform. In this study, an attitude estimation scheme is established for the rigid body-moving platform system by using two gyroscopes and relative measurements between the rigid body and the platform. The proposed scheme estimates the drift-free attitudes of the rigid body and the pa... 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