# IEEE/ASME Transactions on Mechatronics

## Filter Results

Displaying Results 1 - 25 of 44

Publication Year: 2014, Page(s):C1 - C4
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• ### IEEE/ASME Transactions on Mechatronics publication information

Publication Year: 2014, Page(s): C2
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• ### Minimizing Energy Consumption of Wheeled Mobile Robots via Optimal Motion Planning

Publication Year: 2014, Page(s):401 - 411
Cited by:  Papers (21)
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This paper presents a new optimal motion planning aiming to minimize the energy consumption of a wheeled mobile robot in robot applications. A model that can be used to formulate the energy consumption for kinetic energy transformation and for overcoming traction resistance is developed first. This model will provide a base for minimizing the robot energy consumption through a proper motion planni... View full abstract»

• ### Modeling and Sensorless Direct Torque and Flux Control of a Dual-Airgap Axial Flux Permanent-Magnet Machine With Field-Weakening Operation

Publication Year: 2014, Page(s):412 - 422
Cited by:  Papers (14)
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This paper presents the modeling and motion-sensorless direct torque and flux control of a novel dual-airgap axial-flux permanent-magnet machine optimized for use in flywheel energy storage system (FESS) applications. Independent closed-loop torque and stator flux regulation are performed in the stator flux ( x-y) reference frame via two PI controllers. This facilitates fast torque dynamics, which... View full abstract»

• ### Dynamic Visual Servoing With Chaos Control for Redundant Robots

Publication Year: 2014, Page(s):423 - 431
Cited by:  Papers (7)
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This paper presents a new dynamic visual control system for redundant robots with chaos compensation. In order to implement the visual servoing system, a new architecture is proposed that improves the system maintainability and traceability. Furthermore, high performance is obtained as a result of parallel execution of the different tasks that compose the architecture. The control component of the... View full abstract»

• ### Damping and Tracking Control Schemes for Nanopositioning

Publication Year: 2014, Page(s):432 - 444
Cited by:  Papers (34)
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Fast and accurate tracking of reference trajectories is highly desirable in many nanopositioning applications, including scanning probe microscopy. Performance in common positioning stage designs is limited by the presence of lightly damped resonances and actuator nonlinearities such as hysteresis and creep. To improve the tracking performance in such systems, several damping and tracking control ... View full abstract»

• ### New Geometric Approaches to the Analysis and Design of Stewart–Gough Platforms

Publication Year: 2014, Page(s):445 - 455
Cited by:  Papers (10)
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In general, rearranging the legs of a Stewart-Gough platform, i.e., changing the locations of its leg attachments, modifies the platform singularity locus in a rather unexpected way. Nevertheless, some leg rearrangements have been recently found to leave singularities invariant. Identification of such rearrangements is useful not only for the kinematic analysis of the platforms, but also as a tool... View full abstract»

• ### Human Hand Motion Analysis With Multisensory Information

Publication Year: 2014, Page(s):456 - 466
Cited by:  Papers (33)
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In order to study and analyze human hand motions that contain multimodal information, a generalized framework integrating multiple sensors is proposed and consists of modules of sensor integration, signal preprocessing, correlation study of sensory information, and motion identification. Three types of sensors are integrated to simultaneously capture the finger angle trajectories, the hand contact... View full abstract»

• ### Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot

Publication Year: 2014, Page(s):467 - 476
Cited by:  Papers (23)
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This paper presents and discusses the implementation results of a model-predictive control (MPC) scheme with friction compensation applied to trajectory following of an omnidirectional three-wheeled robot. A cascade structure is used with an inverse kinematics block to generate the velocity references given to the predictive controller. Part of the control effort is used to compensate for the effe... View full abstract»

• ### Bounded Assignment Formation Control of Second-Order Dynamic Agents

Publication Year: 2014, Page(s):477 - 489
Cited by:  Papers (14)
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A constructive design of bounded formation controllers is proposed to force N mobile agents with second-order dynamics to track N reference trajectories and to avoid collision between them. Instead of a prior assignation of the reference trajectories to the agents, optimal assignment algorithms are used to assign desired reference trajectories to the agents to obtain optimal criteria such as linea... View full abstract»

• ### Robotic Gait Rehabilitation Trainer

Publication Year: 2014, Page(s):490 - 499
Cited by:  Papers (19)
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This paper presents the basic principle of operation, the mechanical design, and the control system of the Robotic Gait Rehabilitation (RGR) Trainer. This novel single-actuator mechatronic system targets secondary gait deviations affecting patterns of movement of the pelvis in stroke survivors. These deviations arise as compensatory movements associated with primary gait deviations, such as the la... View full abstract»

• ### Design of a Novel 4-DOF Wrist-Type Surgical Instrument With Enhanced Rigidity and Dexterity

Publication Year: 2014, Page(s):500 - 511
Cited by:  Papers (9)
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This paper presents a new type of 4-degree-of-freedom (DOF) robotic surgical instrument for a minimally invasive surgical robot system. The forceps wrist mechanism was designed here on the basis of the 3-DOF parallel structure with three prismatic-spherical-revolute kinematic chains. The pitch and yaw motions of the moving platform generated the wrist rotational motions of the forceps. The axial t... View full abstract»

• ### Image-Based Visual Servoing of a 7-DOF Robot Manipulator Using an Adaptive Distributed Fuzzy PD Controller

Publication Year: 2014, Page(s):512 - 523
Cited by:  Papers (23)
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This paper is concerned with the design and implementation of a distributed proportional-derivative (PD) controller of a 7-degrees of freedom (DOF) robot manipulator using the Takagi-Sugeno (T-S) fuzzy framework. Existing machine learning approaches to visual servoing involve system identification of image and kinematic Jacobians. In contrast, the proposed approach actuates a control signal primar... View full abstract»

• ### Robust Discrete-Time MRAC With Minimal Controller Synthesis of an Electronic Throttle Body

Publication Year: 2014, Page(s):524 - 537
Cited by:  Papers (19)
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The electronic throttle body (ETB) is a fundamental actuator for regulating the air mass coming into an internal combustion engine; hence, it is used to control the engine torque in any modern drive-by-wire configuration. To cope with the nonlinear and discontinuous dynamics of this automotive device, in this paper a novel discrete-time model reference adaptive control (MRAC) method is designed an... View full abstract»

• ### Design and Experimental Evaluations on Energy Efficient Control Allocation Methods for Overactuated Electric Vehicles: Longitudinal Motion Case

Publication Year: 2014, Page(s):538 - 548
Cited by:  Papers (41)
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The energy-efficient control allocation (EECA) scheme was previously proposed to distribute control efforts for overactuated systems by explicitly incorporating efficiency functions and working modes of redundant actuators. In this paper, three different real-time EECA schemes, namely adaptive EECA (A-EECA), KKT-based, and rule-based EECA, are proposed and compared for longitudinal speed tracking ... View full abstract»

• ### Dynamic Path Planning for Inserting a Steerable Needle Into a Soft Tissue

Publication Year: 2014, Page(s):549 - 558
Cited by:  Papers (10)
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Steerable bevel-tip needles are widely used in modern, minimally invasive percutaneous procedures to reach specific areas inside the body. In this paper, we propose an optimized path planner for manipulating such steerable needles, which can generate the shortest path from the starting position to the target position with the least number of rotation times. The shortest traveling path produces les... View full abstract»

• ### A Nonlinear Current Control Method for Resistance Spot Welding

Publication Year: 2014, Page(s):559 - 569
Cited by:  Papers (15)
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Resistance spot welding (RSW) is one of the most commonly used methods in the manufacturing process for joining sheet metal together. This paper deals with the constant current control for RSW, which is the most common control strategy in actual applications. Since the process of RSW is nonlinear and time-varying, conventional control schemes do not yield satisfactory performance. To cope with thi... View full abstract»

• ### An Energy-Saving Pressure-Compensated Hydraulic System With Electrical Approach

Publication Year: 2014, Page(s):570 - 578
Cited by:  Papers (34)
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Mobile hydraulic systems are developed toward better control performance and higher energy efficiency. Pressure compensators, which govern the pressure drops over the control orifices, are widely used in multiactuator systems to improve their operability. However, additional energy is also dissipated in the compensators especially under the overrunning load conditions. This paper presents a novel ... View full abstract»

• ### Modeling and Inverse Compensation of Nonmonotonic Hysteresis in VO $_2$-Coated Microactuators

Publication Year: 2014, Page(s):579 - 588
Cited by:  Papers (21)
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Vanadium dioxide ( VO2) undergoes a thermally induced solid-to-solid phase transition, which can be exploited for actuation purposes. VO2-coated silicon cantilevers demonstrate abrupt curvature changes when their temperature is varied across the phase transition. Unlike the monotonic hysteresis phenomena observed in many other smart materials, the curvature-temperature hyster... View full abstract»

• ### The Variable Stiffness Actuator vsaUT-II: Mechanical Design, Modeling, and Identification

Publication Year: 2014, Page(s):589 - 597
Cited by:  Papers (25)
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In this paper, the rotational variable stiffness actuator vsaUT-II is presented. This actuation system is characterized by the property that the apparent stiffness at the actuator output can be varied independently from its position. This behavior is realized by implementing a variable transmission ratio between the internal elastic elements and the actuator output, i.e., a lever arm with variable... View full abstract»

• ### Superconducting Noncontact Device for Precision Positioning in Cryogenic Environments

Publication Year: 2014, Page(s):598 - 605
Cited by:  Papers (10)
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In this paper, a noncontact linear positioner based on superconducting magnetic levitation for high-precision positioning has been tested under cryogenic conditions (~20 K and ~10 -6Pa). The prototype is able to achieve submicrometric positioning resolution of 230 ± 30 nm RMS along a stroke of ±9 mm length with a current resolution of 15 μA, and a peak current requi... View full abstract»

• ### Hybrid Power Plant Design for a Long-Range Dirigible UAV

Publication Year: 2014, Page(s):606 - 614
Cited by:  Papers (5)
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Unmanned aerial vehicle (UAV) dirigibles are well suited for surveillance and surveyance missions since they can hover and maintain lift without consuming energy and can be easily deflated for packaging and transportation. The challenge is developing a long endurance system while maintaining a low unit cost. This paper presents a novel hybrid power plant design that addresses both of these require... View full abstract»

• ### Design and Optimization of a Tubular Linear Electromagnetic Vibration Energy Harvester

Publication Year: 2014, Page(s):615 - 622
Cited by:  Papers (27)
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This paper presents the design and optimization of tubular linear electromagnetic transducers (LETs) for the applications of large-scale vibration energy harvesting from vehicle suspensions, tall buildings, or long-span bridges. The LETs are composed of magnet and coil assemblies, which convert the vibration energy into electricity when moving relatively with each other. The parameters of the LETs... View full abstract»

• ### Design and Actuator Selection of a Lower Extremity Exoskeleton

Publication Year: 2014, Page(s):623 - 632
Cited by:  Papers (13)
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Lower extremity exoskeletons are wearable robots that integrate human intelligence with the strength of legged robots. Recently, lower extremity exoskeletons have been specifically developed for transportation of disabled individuals. This paper summarizes the anthropomorphic design of a lower extremity exoskeleton named “walking supporting exoskeleton (WSE).” WSE has been developed ... View full abstract»

• ### High-Accuracy Tracking Control of Hydraulic Rotary Actuators With Modeling Uncertainties

Publication Year: 2014, Page(s):633 - 641
Cited by:  Papers (185)
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Structured and unstructured uncertainties are the main obstacles in the development of advanced controllers for high-accuracy tracking control of hydraulic servo systems. For the structured uncertainties, nonlinear adaptive control can be employed to achieve asymptotic tracking performance. But modeling errors, such as nonlinear frictions, always exist in physical hydraulic systems and degrade the... 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.

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## Meet Our Editors

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