# 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 76
• ### A Fast Rolling Soft Robot Driven by Dielectric Elastomer

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

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)

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»

• ### A Method for a Precise and Instantaneous Measurement of a Refractive Index

Publication Year: 2018, Page(s): 1
| | PDF (935 KB)

A noninvasive machine vision based system aimed at the measurement of a refractive index (RI) of slab materials and liquids inside a cell is presented. The principle of the proposed method is based on the relaying laser stripe displacements, which occur due to the difference of the refraction across mediums, to the corresponding RI. Two of the main advantages of the proposed method are that the RI... View full abstract»

• ### A Design Methodology to Improve Human-Robot Coproduction in Small and Medium Sized Enterprises

Publication Year: 2018, Page(s): 1
| | PDF (4071 KB)

In recent years, mass-customization and on-demand production have spread to larger ground. To accommodate these developments, manufacturing systems are being transformed to allow more flexibility and agility. One of the technologies that allow flexibility and agility is Collaborative Robots. The design and implementation of Intelligent Manufacturing Systems is a complex activity that requires brid... View full abstract»

• ### Multi Objective Optimization Design of Switched Reluctance Motor for Low Speed Electric Vehicles

Publication Year: 2018, Page(s): 1
| | PDF (562 KB)

This paper proposed a novel multi objective optimization design method for switched reluctance motor (SRM) on low speed electric vehicles (EVs). According to the indexes of low speed EV propulsion system and the large torque ripple of SRM, six objectives of geometric parameters optimization of SRM are given, which are maximum speed, accelerate time, maximum climbing gradient, energy usage ratio an... View full abstract»

• ### Feedforward Compensation for Suppression of Seam Boundary Error Propagation in Robotic Welding Systems

Publication Year: 2018, Page(s): 1
| | PDF (9367 KB)

In this paper, a novel filling control algorithm for suppression of seam boundary error propagation is proposed for robotic multi-pass welding systems. Firstly, the multi-pass welding process is formulated as a closed-loop control design problem with a low gain feedback controller in the baseline loop. Next, a non-causal feedforward controller is designed for compensating the error from previous w... View full abstract»

• ### Standing Mobility Device with Passive Lower Limb Exoskeleton for Upright Locomotion

Publication Year: 2018, Page(s): 1
| | PDF (3566 KB)

This study proposes a novel standing mobility device aimed at supporting and assisting people with disabled lower limbs. The developed mobility device is capable of assisting voluntary postural transition between standing and sitting by a passive exoskeleton equipped with gas springs, in addition to providing wheeled locomotion in a standing posture using two in-wheel motors. The device allows vol... View full abstract»

• ### A New Fast In-motion Coarse Alignment Method for GPS-aided Low-cost SINS

Publication Year: 2018, Page(s): 1
| | PDF (7452 KB)

In this paper, a new fast in-motion coarse alignment method is proposed for low-cost strap-down inertial navigation system (SINS) aided by the global positioning system (GPS). As compared with existing dynamic attitude estimation based initial alignment (DAEBIA) methods, in the proposed method, the constant attitude matrix from initial body frame to initial navigation frame is rapidly estimated, w... View full abstract»

• ### An innovative two-layer multiple-DOF seat suspension for vehicle whole body vibration control

Publication Year: 2018, Page(s): 1
| | PDF (1137 KB)

This paper proposes an innovative two-layer multiple degrees of freedom (multiple-DOF) seat suspension for reducing whole body vibration (WBV) of heavy duty vehicle drivers. This seat suspension is composed of a bottom-layer suspension for vertical vibration control and a top-layer suspension with two independently controlled rotational DOFs. The proposed seat suspension can reduce the vibration o... View full abstract»

• ### Fault-Tolerant Control of Electric Ground Vehicles Using A Triple-Step Nonlinear Approach

Publication Year: 2018, Page(s): 1
| | PDF (3804 KB)

This paper investigates a triple-step approach-based fault-tolerant control (FTC) strategy for in-wheel motor electric ground vehicles, whose purpose is to preserve stability, improve handling with in-wheel motors and/or steering system faults. The proposed scheme is divided into two levels. The first level is the integrated vehicle motion control with model uncertainties, disturbances and the pos... View full abstract»

• ### Dynamic model for magnetostrictive systems with applications to damper design

Publication Year: 2018, Page(s): 1
| | PDF (1174 KB)

Magnetostrictive iron-gallium alloys are able to dissipate mechanical energy via eddy currents and material hysteresis. The mechanically-induced eddy current loss is determined by the piezomagnetic coefficient; the hysteresis loss is usually quantified by the phase lag. This study first characterizes these material properties of research grade, <100>-oriented, highly textured, polycrysta... View full abstract»

• ### Aerial Manipulator Interactions with Trees for Canopy Sampling

Publication Year: 2018, Page(s): 1
| | PDF (2779 KB)

Aerial manipulation applications involve physical interaction between an unmanned aerial vehicle and its operating environment. This paper presents the novel application of physical coupling between an aerial manipulator and tree towards semi-autonomous canopy sampling. Interactions with unconstrained objects have been studied extensively, however trees are a complex environment with unique and na... View full abstract»

• ### Automatic Recognition of Gait phases Using a Multiple Regression Hidden Markov Model

Publication Year: 2018, Page(s): 1
| | PDF (2735 KB)

This paper presents a new approach for automatic recognition of gait phases based on the use of an in-shoe pressure measurement system and a Multiple Regression Hidden Markov Model (MRHMM) that takes into account the sequential completion of the gait phases. Recognition of gait phases is formulated as a multiple polynomial regression problem in which each phase, called a segment, is modelled using... View full abstract»

• ### Experimental Assessment of a Controlled Slippage Magnetorheological Actuator for Active Seat Suspensions

Publication Year: 2018, Page(s): 1
| | PDF (22586 KB)

Passive air springs are the golden standard in heavy vehicle seat suspensions as they provide economical means to isolate drivers from road disturbances. They are nevertheless likely to expose drivers to vibration levels higher than recommended by the ISO-2631-1 standard over a typical eight-hour shift. Although existing commercial active seat suspensions have proven their superiority over passive... View full abstract»

• ### Time-Optimal Freeform S-curve Profile under Positioning Error and Robustness Constraints

Publication Year: 2018, Page(s): 1
| | PDF (10948 KB)

The problems on designing time-optimal motion profile in the motion system with elasticity are briefly reviewed. Related positioning error and robustness constraints are constructed based on the analytic envelope of residual vibration response which is formulated by the proposed energy-based approach. The time-optimal model under such constraints is applied in the proposed freeform S-curve profile... View full abstract»

• ### Unified Visual Servoing Tracking and Regulation of Wheeled Mobile Robots With an Uncalibrated Camera

Publication Year: 2018, Page(s): 1
| | PDF (1901 KB)

In this paper, a vision-based strategy is proposed for the unified tracking and regulation control of a wheeled mobile robot (WMR) equipped with an uncalibrated monocular camera. Specifically, an on-line implementable method based on the projection homography technique is firstly proposed to estimate partial camera intrinsic parameters. By exploiting the obtained camera intrinsic parameters, the o... View full abstract»

• ### Output Tracking of Non-minimum Phase Systems via Reduced Order Sliding Mode Design

Publication Year: 2018, Page(s): 1
| | PDF (2790 KB)

In this paper, a method to design the reduced order sliding mode control is proposed for the robust output tracking of arbitrary signal for non-minimum phase systems. The main contributions in this paper include design of the reduced order switching function that ensures the asymptotic tracking of an arbitrary reference signal during sliding motion, design of the reduced order sliding mode control... View full abstract»

• ### Reducing the Power Consumption of a Shape Memory Alloy Wire Actuator Drive by Numerical Analysis and Experiment

Publication Year: 2018, Page(s): 1
| | PDF (16930 KB)

The use of shape memory alloy (SMA) wire actuators for a moving body has some advantages over other conventional actuators because of the high specific power, small size and simplicity of these actuators. However, the large power consumption of SMA wire actuators prevents its practical use. This paper shows how to optimize the input voltage of SMA wire actuators. First, a numerical actuator model ... View full abstract»

• ### Disturbance/Uncertainty Estimator based Robust Control of Non-minimum Phase Systems

Publication Year: 2018, Page(s): 1
| | PDF (6364 KB)

An open problem in disturbance/uncertainty estimator based control is to obtain explicit mathematical expressions for robust stability, performance and bandwidth requirement. This paper offers a path based on $mathcal{H}_infty$ robust control to resolve this problem. Robust stability/performance are assured at the design phase. The main controller and disturbance obse... View full abstract»

• ### Decoupling compensation for damping improvement of the electrohydraulic control system with multiple actuators

Publication Year: 2018, Page(s): 1
| | PDF (1086 KB)

This paper proposes a decoupling compensation method for damping improvement of the electrohydraulic control system with dual actuators. Low damping property of hydraulic systems has been a remarkably troublesome issue for a few decades. Previously, this issue with one hydraulic actuator has been addressed effectively by state feedback and signal compensation, e. g., dynamic pressure feedback. How... View full abstract»

• ### Robust Initial Attitude Alignment for SINS/DVL

Publication Year: 2018, Page(s): 1
| | PDF (211 KB)

The attitude determination (AD) based initial alignment for Doppler Velocity Log (DVL) aided Strapdown Inertial Navigation System (SINS) is investigated. Three issues involved in practical applications are pointed out and addressed, which have been not discussed in previous works. Firstly, the explicit AD based initial alignment procedure is presented for DVL aided SINS with consideration of the d... View full abstract»

• ### A Cyber-Physical Production System Framework of Smart CNC Machining Monitoring System

Publication Year: 2018, Page(s): 1
| | PDF (1242 KB)

Computer Numerical Control (CNC) machine tools are now moving towards high precision, high speed and complex functional machining. Machining monitoring system is important to achieve intelligent control of machining process to produce complex geometric features and precision parts. Traditional NC machining monitoring system is limited in data features, low in adaptability and slow in transmission ... View full abstract»

• ### A Visual Distance Approach for Multi-Camera Deployment with Coverage Optimization

Publication Year: 2018, Page(s): 1
| | PDF (3626 KB)

This paper proposes a visual distance approach for multi-camera deployment through parallel coverage optimization over three-dimensional (3-D) space to inspect 3-D objects. The key idea is the proposal of a new "visual distance" between a single camera and a scene point, which takes into account multiple coverage criteria. Specifically, the effective visual sensing area of a single camera is expre... 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