Volume 11 Issue 4 • Aug. 2006
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Table of contents
Publication Year: 2006, Page(s): c1|
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IEEE/ASME Transactions on Mechatronics publication information
Publication Year: 2006, Page(s): c2|
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Guest Editorial Introduction to the Focused Section on Advanced Intelligent Mechatronics
Publication Year: 2006, Page(s):369 - 371 -
Development of a standing style transfer system "ABLE" for disabled lower limbs
Publication Year: 2006, Page(s):372 - 380
Cited by: Papers (14)We have developed a standing style transfer system, or "ABLE," for a person with disabled legs. It allows travel in a standing posture even on uneven ground, a standing up motion from a chair, and allows the stairs. ABLE consists of three modules: a pair of telescopic crutches, a powered lower extremity orthosis, and a pair of mobile platforms. We present here the conceptual design of ABLE and the... View full abstract»
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Automated onboard modeling of cartridge valve flow mapping
Publication Year: 2006, Page(s):381 - 388
Cited by: Papers (18)Proportional poppet-type cartridge valves are the key elements of the energy-saving programmable valves, which have been shown to be able to achieve good motion control performance while significantly saving energy usage in our previous studies. Unlike costly conventional four-way valves, the cartridge valve has a simple structure and is easy to manufacture, but the complicated mathematical model ... View full abstract»
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Visual servoing for constrained planar robots subject to complex friction
Publication Year: 2006, Page(s):389 - 400
Cited by: Papers (13)The theoretical framework and the experimental validation of a new image-based position-force control for planar robots are presented in this paper. This scheme produces simultaneous convergence of the constrained visual position and the contact force between the end effector and the constraint surface. Camera, robot, and the visual jacobian parameters are considered unknown. This approach is base... View full abstract»
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Manipulation of deformable linear objects using knot invariants to classify the object condition based on image sensor information
Publication Year: 2006, Page(s):401 - 408
Cited by: Papers (20)Using a topological model and knot theory, we propose a method for describing the condition of a rope. We also propose a recognition method based on the image information obtained from the charge-coupled device cameras to obtain the structure of the rope when manipulated by a robot. This method will help solve the difficulties of robots manipulating deformable objects by providing a theoretical fr... View full abstract»
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Analytical and experimental investigation on the magnetic field and torque of a permanent magnet spherical actuator
Publication Year: 2006, Page(s):409 - 419
Cited by: Papers (89)This paper presents the torque model of a ball-joint-like three-degree-of-freedom (3-DOF) permanent magnet (PM) spherical actuator. This actuator features a ball-shaped rotor with multiple PM poles and a spherical stator with circumferential air-core coils. An analytical expression of the magnetic field of the rotor is obtained based on Laplace's equation. Based on this expression and properties o... View full abstract»
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Closed-loop optimal control-enabled piezoelectric microforce sensors
Publication Year: 2006, Page(s):420 - 427
Cited by: Papers (24)This paper presents a closed-loop optimally controlled force-sensing technology with applications in both micromanipulation and microassembly. The microforce-sensing technology in this paper is based on a cantilevered composite beam structure with embedded piezoelectric polyvinylidene fluoride (PVDF) actuating and sensing layers. In this type of sensor, the application of an external load causes d... View full abstract»
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Design and control of an exoskeleton for the elderly and patients
Publication Year: 2006, Page(s):428 - 432
Cited by: Papers (142)Recently, the exoskeletal power assistive equipment, which is a kind of wearable robot, has been widely developed to help human body motion. The exoskeleton for elderly people and patients, however, has some limitations due to the weight and volume of the equipment. In this paper, a tendon-driven exoskeletal power assistive device, exoskeleton for patients and the old by the Sogang University (EXP... View full abstract»
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Energetics-based design of small flapping-wing micro air vehicles
Publication Year: 2006, Page(s):433 - 438
Cited by: Papers (25) | Patents (1)In this paper, the energetics of a flapping-wing micro air vehicle (MAV) is analyzed with the objective of designing it. The salient features of this paper are as follows: 1) designing an energy storage mechanism in the air vehicle similar to an insect thorax that stores part of the kinetic energy of the wing as elastic potential energy during a flapping cycle; 2) inclusion of simplified aerodynam... View full abstract»
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Symbolic time-series analysis for anomaly detection in mechanical systems
Publication Year: 2006, Page(s):439 - 447
Cited by: Papers (20) | Patents (1)This paper examines the efficacy of a novel method for anomaly detection in mechanical systems, which makes use of a hidden Markov model, derived from the time-series data of pertinent measurement(s). The core concept of the anomaly detection method is symbolic time-series analysis that is built upon the principles of Automata Theory, Information Theory, and Pattern Recognition. The performance of... View full abstract»
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On the design of large degree-of-freedom digital mechatronic devices based on bistable dielectric elastomer actuators
Publication Year: 2006, Page(s):448 - 456
Cited by: Papers (55) | Patents (2)Binary actuation has been proposed to reduce complexity in robotic and mechatronic systems. However, a relatively large number of binary actuators are required to achieve the accuracy necessary for practical applications. Conventional actuators are not practical for such large degree-of-freedom (DoF) devices. Here, a dielectric elastomer (DE) actuator is developed for these applications. It is sho... View full abstract»
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Improved torque fidelity in harmonic drive sensors through the union of two existing strategies
Publication Year: 2006, Page(s):457 - 461
Cited by: Papers (17)The torsional compliance of harmonic drives lends itself to torque sensing, but the elliptical wave generator in harmonic drives introduces a spatially dependent local torque ripple on the flexspline of harmonic drives. It is difficult to extract the applied torque signal from this local torque ripple if the applied torque is sensed at the flexspline of the harmonic drive. Previous methods have us... View full abstract»
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Development of a three-axis active vibration isolator using zero-power control
Publication Year: 2006, Page(s):462 - 470
Cited by: Papers (42)This paper presents the development of an active 3-degree-of-freedom (DoF) vibration isolation system using zero-power magnetic suspension. The developed system is capable to suppress direct disturbances and isolate ground vibrations of the 3-DoF motions, associated with vertical translational and rotational modes. Two categories of control strategy for the actuators are proposed, i.e., local cont... View full abstract»
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Design and evaluation of a micro-fuel-cell-based power system for a mobile robot
Publication Year: 2006, Page(s):471 - 476
Cited by: Papers (10)A mobile robot being used for an undergraduate course in mechatronics engineering was converted from a conventional lead acid battery to a hydrogen fuelled polymer electrolyte membrane (PEM) micro fuel cell as the power source. The application of the robot is first outlined. Next, the design of the fuel-cell-based power supply system as assembled from the commercial components is described. Finall... View full abstract»
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Design, control, and energetic characterization of a solenoid-injected monopropellant-powered actuator
Publication Year: 2006, Page(s):477 - 487
Cited by: Papers (21)This paper describes a direct-injection configuration of a monopropellant-powered actuator that is intended to provide high-energy-density actuation for a self-powered position- or force-controlled human-scale robot. The proposed actuator is pressurized by a pair of solenoid injection valves (each of which control the flow of a monopropellant through a catalyst pack and directly into the respectiv... View full abstract»
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Stable identification of nonlinear systems using neural networks: theory and experiments
Publication Year: 2006, Page(s):488 - 495
Cited by: Papers (33)This paper presents an approach for stable identification of multivariable nonlinear system dynamics using a multilayer feedforward neural network. Unlike most of the previous neural network identifiers, the proposed identifier is based on a nonlinear-in-parameters neural network (NLPNN). Therefore, it is applicable to systems with higher degrees of nonlinearities. Both parallel and series-paralle... View full abstract»
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Quality without compromise [advertisement]
Publication Year: 2006, Page(s): 496|
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IEEE/ASME Transactions on Mechatronics Information for authors
Publication Year: 2006, Page(s): c3|
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Blank page [back cover]
Publication Year: 2006, 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.
Meet Our Editors
Editor-in-Chief
George Chiu
Purdue University
West Lafayette, IN USA
gchiu@purdue.edu