# IEEE/ASME Transactions on Mechatronics

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Displaying Results 1 - 25 of 27

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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• ### Model-Based Compensation of Thermal Disturbance in a Precision Linear Electromagnetic Actuator

Publication Year: 2014, Page(s):1477 - 1488
Cited by:  Papers (7)
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Thermal disturbance is a major source of positioning error in precision-positioning systems. The conventional approach of using special materials for construction and sophisticated geometric design based on advanced computer simulation can be costly as well as time consuming to implement. Moreover, dynamic thermal disturbances cannot be effectively compensated for by such methods. The approach pre... View full abstract»

• ### A Sliding-Mode-Like Position Controller for Admittance Control With Bounded Actuator Force

Publication Year: 2014, Page(s):1489 - 1500
Cited by:  Papers (21)
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This paper proposes a new position controller that is suitable for the use as the internal position servo of an admittance controller with bounded actuator forces. The new position controller approximately behaves as a proportional-integral-derivative (PID) controller with an acceleration feedforward in normal situations and as a sliding mode controller when the actuator force is saturated. The ad... View full abstract»

• ### Modeling and Control of the Fuel Injection System for Rail Pressure Regulation in GDI Engine

Publication Year: 2014, Page(s):1501 - 1513
Cited by:  Papers (8)
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To obtain the precise injection in GDI engines, this paper presents a model-based rail pressure control scheme. First, a mathematical model is derived for the fuel rail injection system based on hydrodynamics and the bulk modulus of elasticity and simplified reasonably for the controller design. The system is uncontrollable at the point where the pump pressure is equal transiently to the rail pres... View full abstract»

• ### A Seesaw-Structured Energy Harvester With Superwide Bandwidth for TPMS Application

Publication Year: 2014, Page(s):1514 - 1522
Cited by:  Papers (14)
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In this paper, we introduce a novel seesaw-structured energy harvester for tire-pressure monitoring system (TPMS) applications. The unique design of the proposed energy harvester can effectively avoid the influence of enormous centrifugal force, which is attributed to the balance characteristic of seesaw structure. Two magnets placed on the seesaw end could swing the seesaw structure in every rota... View full abstract»

• ### Error Analysis of FBG-Based Shape Sensors for Medical Needle Tracking

Publication Year: 2014, Page(s):1523 - 1531
Cited by:  Papers (17)
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Robotic needle steering requires accurate spatial information about the needle tip. Presumably, fiber Bragg gratings (FBGs) can provide this information at an appropriate update rate. We performed an extensive error analysis to quantify the accuracy of needle tip tracking with FBGs and to assess the suitability of this method for robotic needle steering. An FBG-based shape sensing model was determ... View full abstract»

• ### Noncontact Vibration Measurement Based Thoracic Spine Condition Monitoring During Pedicle Drilling

Publication Year: 2014, Page(s):1532 - 1540
Cited by:  Papers (10)
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In order to prevent possible damage to the spinal cord, blood vessel or other soft tissues, reliable monitoring methods are required to provide valuable information on the condition of the bone being cut. A method is proposed for monitoring thoracic spine conditions via the use of bone vibration signal during pedicle drilling, which is directly recorded by a noncontact laser displacement sensor. T... View full abstract»

• ### Development of a Mechatronics-Based Citizen Science Platform for Aquatic Environmental Monitoring

Publication Year: 2014, Page(s):1541 - 1551
Cited by:  Papers (24)
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In this paper, we present the design and proof of concept of a low-cost, self-sustained mobile surface vehicle for environmental monitoring. The vehicle is equipped with water quality sensors and cameras for image acquisition and two thrusters allowing it to maneuver. The device is part of a citizen science system wherein volunteers help in the environmental recovery of polluted bodies of water by... View full abstract»

• ### Robust Resonant Frequency-Based Contact Detection With Applications in Robotic Reaching and Grasping

Publication Year: 2014, Page(s):1552 - 1561
Cited by:  Papers (8)
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This paper presents a method for detecting contact by tracking a compliant structure's resonant frequency, which increases with external contact. The approach uses an inexpensive accelerometer mounted on or embedded inside the structure, and a phase locked loop circuit and actuator to oscillate the structure at its resonant frequency. This approach is applied to a robotic finger, and two contact d... View full abstract»

• ### Characterization and Modeling of Biomimetic Untethered Robots Swimming in Viscous Fluids Inside Circular Channels

Publication Year: 2014, Page(s):1562 - 1573
Cited by:  Papers (7)
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Miniaturized robots with bioinspired propulsion mechanisms, such as rotating helical flagella, are promising tools for minimally invasive surgery, diagnosis, targeted therapy, drug delivery, and removing material from the human body. Understanding the locomotion of swimmers inside fluid-filled channels is essential for the design and control of miniaturized robots inside arteries and conduits of l... View full abstract»

• ### Achieving Stable Tracking in Wave-Variable-Based Teleoperation

Publication Year: 2014, Page(s):1574 - 1582
Cited by:  Papers (24)
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Wave-variable-based control is an attractive approach for teleoperation systems that are subject to substantial time delays. However, this approach can potentially introduce wave reflections which can significantly disorient the user. In this paper, we aim to improve the operator's perception through an augmented wave-variable controller based on impedance matching that achieves stable signal trac... View full abstract»

• ### Robust Control of VO$_{\bf 2}$-Coated Microbenders Using Self-Sensing Feedback

Publication Year: 2014, Page(s):1583 - 1592
Cited by:  Papers (4)
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This paper presents the first studies on robust closed-loop deflection control of vanadium dioxide (VO2)-based microactuators using self-sensing. The deflection output of the microactuator is estimated by VO2resistance-based self-sensing through a high-order polynomial in order to eliminate the need for complicated external sensing mechanisms. An H∞robust controlle... View full abstract»

• ### A Smoothed GMS Friction Model Suited for Gradient-Based Friction State and Parameter Estimation

Publication Year: 2014, Page(s):1593 - 1602
Cited by:  Papers (16)
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This paper presents a model that closely approximates the generalized Maxwell-Slip (GMS) model, a multistate friction model known to describe all essential friction characteristics in presliding and sliding motion. In contrast to the GMS model, which consists of a switching structure to accommodate for its hybrid nature, the new model, referred to as the smoothed GMS (S-GMS) model, consists of an ... View full abstract»

• ### Experimental Validation of Visually Servoed Paired Structured Light System (ViSP) for Structural Displacement Monitoring

Publication Year: 2014, Page(s):1603 - 1611
Cited by:  Papers (7)
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Structural displacement is considered an important indicator to assess structural conditions. To directly measure the displacement in the time domain, a visually servoed paired structured light system was proposed. The system is composed of two sides facing each other, each with one or two lasers that are controlled by a visually servoed two-DOF manipulator, a camera, and a screen. The relative si... View full abstract»

• ### Positioning Cylindrical Target Based on Three-Microscope Vision System

Publication Year: 2014, Page(s):1612 - 1624
Cited by:  Papers (1)
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New visual positioning and adjustment techniques for cylinder target are presented based on three-microscope vision system, which is used for visually guiding the manipulation of microparts with an eye-to-hand configuration. An image-based visual control (IBVC) with image Jacobian matrix and a position-based visual control (PBVC) algorithm for the three-microscope vision system are investigated. I... View full abstract»

• ### A Rotary Actuator Using Shape Memory Alloy (SMA) Wires

Publication Year: 2014, Page(s):1625 - 1635
Cited by:  Papers (17)
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This paper presents the conceptual design, operating principle, simplified geometric model-based parametric analysis, experimental driving characterization, and working performance verification of a rotary actuator using shape memory alloy (SMA) wires. To achieve the research goal for developing a bidirectional SMA rotary actuator with high-torque capability, the actuator is realized with a rotati... View full abstract»

• ### Discrete Deformation Models for Real-Time Computation of Compliant Mechanisms in Two- and Three-Dimensional Space

Publication Year: 2014, Page(s):1636 - 1650
Cited by:  Papers (1)
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Motivated by the need to develop a real-time computation method for simultaneous real-time visualization and force/torque feedback for manipulating of compliant mechanisms, this paper presents a general formulation of a reduced-order discrete state space model and its solution as a function of path lengths for a three-dimensional (3-D) curvature-based beam model (CBM). Unlike a compliant beam mode... View full abstract»

• ### Magnetic Robot and Manipulation for Active-Locomotion With Targeted Drug Release

Publication Year: 2014, Page(s):1651 - 1659
Cited by:  Papers (26)
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In this paper, we propose a new mechanism for targeted drug release based on active locomotion. The manipulating method is a magnetic torque control based on a rotating magnetic field using a three-axis Helmholtz coil system. The applied magnetic field creates two rolling (radial and longitudinal directions) and a rotating motion for active locomotion according to variations in the working space a... View full abstract»

• ### Optimal Design of Piezoelectric Cantilevered Actuators With Guaranteed Performances by Using Interval Techniques

Publication Year: 2014, Page(s):1660 - 1668
Cited by:  Papers (8)
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Piezoelectric materials are well recognized for the development of systems and actuators working at the micro/nano-scale such as microsystems. This recognition is thanks to the high resolution, high bandwidth, and high force density that they can offer. However, piezoelectric actuators are typified by low range of displacement relative to other actuators like magnetic or thermal actuators. To obta... View full abstract»

• ### Design Considerations for Magnetorheological Brakes

Publication Year: 2014, Page(s):1669 - 1680
Cited by:  Papers (22)
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Design considerations for magnetorheological (MR) brakes are discussed for different geometries. A complete modeling in terms of torque density, efficiency, bandwidth, and controllability is presented. The model assigns a desired magnetic flux density over the fluid surface. The magnetic circuit dimensions and the necessary power can be calculated in consequence. The analysis focuses on a single d... View full abstract»

• ### Motion Transfer Control From Walking to Brachiation Through Vertical Ladder Climbing for a Multi-Locomotion Robot

Publication Year: 2014, Page(s):1681 - 1693
Cited by:  Papers (5)
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This paper describes a motion control approach to transfer locomotion types of a multi-locomotion robot (MLR) from walking to brachiation for maneuver performance. Brachiation is a form of arboreal locomotion in which a primate swings its body like a pendulum to transfer from a tree limb to another using its arms. In addition to multiple types of locomotion, such as biped walking, quadruped walkin... View full abstract»

• ### Modeling and Experiment Design for Identification of Wear in a Robot Joint Under Load and Temperature Uncertainties Based on Friction Data

Publication Year: 2014, Page(s):1694 - 1706
Cited by:  Papers (16)
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The effects of wear to friction are studied based on constant-speed friction data collected from dedicated experiments during accelerated wear tests. It is shown how the effects of temperature and load uncertainties produce larger changes to friction than those caused by wear, motivating the consideration of these effects. Based on empirical observations, an extended friction model is proposed to ... View full abstract»

• ### Development of a New High-Resolution Angle-Sensing Mechanism Using an RGB Sensor

Publication Year: 2014, Page(s):1707 - 1715
Cited by:  Papers (5)
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A new high-resolution angle-sensing mechanism using a color sensor is presented in this paper. This scheme is based on a red-green-blue (RGB) sensor that measures the radiant-intensity variation of the light reflected off a colored surface. The propagation mechanism for the output of an RGB sensor due to the reflected light's intensity on the cylindrical color track printed with the designated RGB... View full abstract»

• ### Adaptive Modeling of a Magnetorheological Clutch

Publication Year: 2014, Page(s):1716 - 1723
Cited by:  Papers (13)
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In this paper, a new open-loop model for a magnetorheological-based actuator is presented. The model consists of two parts relating the output torque of the actuator to its internal magnetic field, and the internal magnetic field to the applied current. Each part possesses its own hysteretic behavior. The first part uses a novel nonlinear adaptive model that relates the internal magnetic field to ... 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