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  • 1
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    Add-On Feedforward Compensation for Vibration Rejection in HDD (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: The applications of the hard disk drive (HDD) in mobile and compact devices pose higher requirement on the vibration-rejection capability of HDD servo control. A novel vibration-compensation method is proposed in this paper. It is an add-on feedforward scheme, and the add-on feature will be turned on only in the specific vibration environment. The scheme comprises two parts: the vibration detection through the analysis of the vibration sensor output, and the vibration compensation through the add-on feature. One major advantage of this method over conventional methods applied in HDD is that the vibration rejection in some frequencies can be improved without the compromise of the performance in other frequencies. The scheme is not based on an accurate modeling, therefore, it is less sensitive to the variation of the plant parameters. The transient response in switching on or off the add-on feature is shortened by the reset control. The scheme is implemented in real HDD, and the experimental results prove the effectiveness of the scheme.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 2
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    Enhancement in Operator's Perception of Soft Tissues and Its Experimental Validation for Scaled Teleoperation Systems (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: This paper focuses on scaled teleoperation systems interacting with soft tissues and presents an optimal control scheme to maximize the operator's kinesthetic perception of remote soft environments while maintaining the stability in macro-micro interactions. Two performance metrics are defined to quantify the kinesthetic perception of the surgeons and the position tracking ability of the master-slave system. Kinesthetic perception is defined based on psychophysics by using two metrics, which relate to the detection and discrimination of stimulus. This paper then employs a multiconstrained optimization approach to get an optimal solution in the presence of the stability-performance tradeoff wherein the objective is to enhance the kinesthetic perception while maintaining the tracking and robust stability for interactions between macro and microworlds. Simplified stability constraints for scaled teleoperation systems are designed based on Llewellyn's absolute stability criterion for the optimization procedure, which provides easy and effective design guidelines for selecting control gains. Experiments with phantom soft tissues have been conducted using scaled force-position control architecture, scaled position-position control architecture, and scaled four-channel control architecture to verify the proposed control scheme. Results prove the effectiveness of this algorithm in enhancing the kinesthetic perception of surgeons for scaled teleoperation systems. Psychophysical experiments were then performed to compare our approach with similar contemporary research methods that further validated its efficacy.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 3
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    Vision-Aided Laser Doppler Vibrometry for Remote Automatic Voice Detection (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: For automating the remote voice detection using a laser Doppler vibrometer (LDV), we integrate a pan-tilt-zoom (PTZ) camera, a mirror, and a pan-tilt unit (PTU) with the LDV to form a multimodal sensing system. With the assistance of vision and active control components, the LDV can automatically select the best reflective surfaces, point the laser beam to the selected surfaces, and quickly focus the laser beam. For accomplishing these functions, distance measurement and sensor calibration methods are proposed using the triangulation between the PTZ camera and the mirrored LDV laser beam. Based on both the measured distances and the return signal levels of the LDV, a fast and automatic LDV focusing algorithm is designed. Furthermore, strategies and related image-processing techniques in surface selection and laser pointing are designed. Experimental results are shown to validate the performance improvement of the LDV in remote automatic voice detection by using the multimodal system.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 4
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    Adaptive Tracking Control of Hybrid Machines: A Closed-Chain Five-Bar Mechanism Case (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: This paper considers the trajectory tracking problem of hybrid machines. A hybrid machine here refers to a machine that is driven by the constant velocity (CV) motors and servomotors in a proper configuration. The hybrid machine is a meaningful tradeoff between task flexibility and power capacity. However, this system has brought a new challenge to control due to the velocity fluctuation in the CV motor. The velocity fluctuation problem is caused mainly by the uncontrollable input current and the time-varying workload. In addition, the dynamic parameters are uncertain, which further increases the control difficulty. In this paper, we propose an adaptive control law for the trajectory tracking and demonstrate the effectiveness of this control law on a 2-DOF closed-chain five-bar hybrid mechanism driven by one servomotor and one CV motor. The principle of the proposed controller is to properly design the servomotor control input that can compensate not only the uncertainty in the servomotor but also the uncertainty in the CV motor. By the proposed adaptive control law, it can be theoretically proved that the position/velocity tracking errors of the joint associated with the servomotor and the velocity tracking error of the joint associated with the CV motor are convergent to zero as time goes to infinity. Finally, the simulation examples are given to illustrate the effectiveness of the proposed method.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 5
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    2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 6
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    Vision-Based Force Sensing for Nanomanipulation (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: In this paper, a vision-based algorithm for estimating tip interaction forces on a deflected atomic orce microscope (AFM) cantilever is described. Specifically, we propose that the algorithm can estimate forces acting on an AFM cantilever being used as a nanomanipulator inside a scanning electron microscope (SEM). The vision-based force sensor can provide force feedback in real time, a feature absent in many SEMs. A methodology based on cantilever slope detection is used to estimate the forces acting on the cantilever tip. The technique was tested on a scaled model of the nanoscale AFM cantilever and verified using theoretical estimates as well as direct strain measurements. Artificial SEM noise was introduced in the macroscale images to characterize our sensor under varying levels of noise and other SEM effects. Prior knowledge about the cantilever is not required, and the algorithm runs independent of human input. The method is shown to be effective under varying noise levels, and demonstrates improving performance as magnification levels are decreased. Therefore, we conclude that the vision-based force sensing algorithm is best suited for continuous operation of the SEM, fast scanning rates, and large fields-of-view associated with low magnification levels.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 7
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    Force Sensing and Manipulation Strategy in Robot-Assisted Microinjection on Zebrafish Embryos (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: Robot-assisted microinjection has attracted considerable attention from both engineering and biological communities, due to its advantages of high precision and throughput. This paper addresses two issues in the development of enable technologies for robot-assisted microinjection. One is the microforce measurement during the embryo-injection process. A new injection force-sensing scheme based on a simply supported beam structure is reported. The model combining mechanoelectrical transduction of the beam and the polyvinylidene fluoride sensing material is theoretically investigated. The other issue to be addressed is the manipulation strategy to mimic human-injection operation, which is based on force sensing and control techniques. A set of microinjection experiments on zebrafish embryos is performed to demonstrate the effectiveness of the proposed robot-assisted manipulation methodology. Experimental results show that satisfied survival rate of the injected cells can be obtained, which is comparable to manual operation by human expert.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 8
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    A Grey Synthesis Approach to Efficient Architecture Design for Temporal Difference Learning (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: Temporal difference (TD) constitutes a class of methods for learning predictions in multistep prediction problems. The most important application of these methods is to temporal credit assignment in reinforcement learning. Although these TD procedures work in theory and in principle, its success is contingent on proper selection of parametric values. As well, its learning is majorly based on repeated exposures, which may not always be practical or feasible. This paper examines the issues of the efficient and general implementation of TD for hardware implementation of reinforcement learning algorithms by synthesizing the series of discounted sum of rewards along time. The proposed algorithm eliminates all step size parameters and improves data efficiency based on a synthetic approach of Grey theory. This paper also presents the stability of the proposed algorithm from the viewpoint of Grey theory. The algorithm along with a critic-actor reinforcement learning model is implemented in a System-on-a-Programmable-Chip (SOPC) board. In addition to comparing with the renowned model, adaptive heuristic critic (AHC), the results of experiments demonstrate that the proposed control mechanism can learn to control a system with very little a priori knowledge. Meanwhile, the effect of uncertainty in interactions between the system and the environment can be relaxed to some extent in the learning process of the proposed reinforcement learning agent.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 9
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    IEEE/ASME Transactions on Mechatronics publication information (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-23
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 10
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    2011 Index IEEE/ASME Transactions on Mechatronics Vol. 16 (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-23
    Description: This index covers all technical items - papers, correspondence, reviews, etc. - that appeared in this periodical during the year, and items from previous years that were commented upon or corrected in this year. Departments and other items may also be covered if they have been judged to have archival value. The Author Index contains the primary entry for each item, listed under the first author's name. The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination. The Subject Index contains entries describing the item under all appropriate subject headings, plus the first author's name, the publication abbreviation, month, and year, and inclusive pages. Note that the item title is found only under the primary entry in the Author Index.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 11
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    IEEE/ASME Transactions on Mechatronics Information for authors (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-23
    Description: Provides instructions and guidelines to prospective authors who wish to submit manuscripts.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 12
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    Toward a Robot-Assisted Breast Intervention System (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: Minimally invasive breast biopsies have several advantages, such as low morbidity and decreased cost. However, success of these procedures is critically dependent on precise placement of the biopsy probe at the tumor location. In addition, during manual image-guided breast interventions, freehand ultrasound (US) imaging is challenging and coordinating image acquisition with probe insertion and breast stabilization simultaneously requires high level of skill. To address these problems, a novel robotic breast intervention device is presented in this paper. This system assists the clinician by: 1) ensuring accurate placement of the instrument at the tumor location and 2) autonomously acquiring real-time images of the tumor. Experimental results on breast phantoms demonstrate the efficacy of this device. This system has the potential to increase targeting accuracy while at the same time reducing the level of skill required to perform minimally invasive breast interventional procedures.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 13
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    Electrostatic Torsional Micromirror With Enhanced Tilting Angle Using Active Control Methods (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: Electrostatic microelectromechanical systems (MEMS)-based torsional micromirrors are a fundamental building block for many optical network applications, such as optical wavelength-selective switches, configurable optical add-drop multiplexers and optical cross-connects. Although the device architecture, materials and fabrication processes determine the micromirrors' functioning space, one major technical challenge to achieving their full performance potentials is the controllability and stability of the tilting angle. In this paper, an electrostatic micromirror is designed and fabricated using a standard MEMS silicon-on-insulator (SOI) process. Active control approaches including gain scheduling and nonlinear proportional and derivative (PD) control are proposed. Both approaches can improve the performance of the mirror tilting and enhance the robustness of the structures to any stochastic perturbations. Furthermore, the nonlinear PD control can eliminate the micromirror “pull-in” phenomenon, hence significantly expanding the mirror tilt range, and as a result achieving enhanced device performance and functionality. The nonlinear PD control method is experimentally implemented and the results demonstrate the effectiveness of the approach.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 14
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    Observer-Based Adaptive Robust Control of Friction Stir Welding Axial Force (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: Friction stir welding (FSW) is a relatively new and promising joining process that is the subject of much current research. When welding with constant parameters, the axial force can vary significantly due to changes in workpiece temperature and other process variations. These variations produce welds with inconsistent microstructure and tensile strength. Control of the axial weld force is desirable to improve the weld quality. In this paper, an observer-based adaptive robust control (ARC) approach for the axial force of FSW is presented to overcome process disturbances and model errors stemming from the simplistic dynamic models suitable for control. Some correlation is shown between spindle power and axial force, allowing readily available power measurements to be used for feedback. A model of the axial force is developed as a combination of a nonlinear static gain and linear dynamics. An axial force controller is constructed using the ARC approach and estimated state feedback from the adaptive divided difference filter (ADDF). Verification experiments are conducted on a vertical milling machine configured for FSW using an open architecture controller. The combined ARC/ADDF technique is shown to dramatically reduce axial force variations in the presence of significant process disturbances.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 15
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    Design and Control of a 1-DOF MRI-Compatible Pneumatically Actuated Robot With Long Transmission Lines (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: This paper presents the design and control of an MRI-compatible 1-DOF needle-driver robot and its precise position control using pneumatic actuation with long transmission lines. MRI provides superior image quality compared to other imaging modalities, such as computed tomography or ultrasound, but imposes severe limitations on the material and actuator choice (to prevent image distortion) due to its strong magnetic field. We are primarily interested in developing a pneumatically actuated breast biopsy robot with a large force bandwidth and precise targeting capability during RF ablation (RFA) of breast tumor, and exploring the possibility of using long pneumatic transmission lines from outside the MRI room to the device in the magnet to prevent any image distortion whatsoever. This paper presents a model of the entire pneumatic system. The pneumatic lines are approximated by a first-order system with time delay, since its dynamics are governed by the telegraph equation with varying coefficients and boundary conditions, which cannot be solved precisely. The slow response of long pneumatic lines and valve subsystems make position control challenging. This is further compounded by the presence of nonuniform friction in the device. Sliding-mode control (SMC) was adopted, where friction was treated as an uncertainty term to drive the system onto the sliding surface. Three different controllers were designed, developed, and evaluated to achieve precise position control of the RFA probe. Experimental results revealed that all SMCs gave satisfactory performance with long transmission lines. We also performed several experiments with a 3-DOF fiber-optic force sensor attached to the needle driver to evaluate the performance of the device in the MRI under continuous imaging.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 16
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    Design of a Multidisc Electromechanical Brake (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: This paper presents the design of an electrically actuated, proportional brake that provides a significantly greater torque-to-weight ratio than a magnetic particle brake (MPB) (considered a benchmark of the state of the art) without sacrificing other characteristics, such as dynamic range, bandwidth, or electrical power consumption. The multidisc brake provides resistive torque through a stack of friction discs, which are compressed by a dc-motor-driven ball screw. Unlike nearly all other proportional brakes, which operate in a normally unlocked mode, the brake presented here is designed such that it may be configured in either a normally unlocked or normally locked mode. The latter enables lower electrical energy consumption and added safety in the event of electrical power failure in certain applications. Following the device description, experimental data are presented to characterize the performance of the brake. The performance characteristics are subsequently compared to those of a commercially available MPB of comparable size.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 17
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    Coordinated Motion Planning for Multiple Mobile Robots Along Designed Paths With Formation Requirement (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: This paper presents a motion-planning approach for coordinating multiple mobile robots in moving along specified paths. The robots are required to fulfill formation requirements while meeting velocity/acceleration constraints and avoiding collisions. Coordination is achieved by planning robot velocities along the paths through a velocity-optimization process. An objective function for minimizing formation errors is established and solved by a linear interactive and general optimizer. Motion planning can be further adjusted online to address emergent demands such as avoiding suddenly appearing obstacles. Simulations and experiments are performed on a group of mobile robots to demonstrate the effectiveness of the proposed coordinated motion planning in multirobot formations.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 18
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    Nonlinear Dynamic Analysis of Atomic Force Microscopy Under Bounded Noise Parametric Excitation (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: When the vibrating microcantilever in an atomic force microscope (AFM) is close to the sample surface, the nonlinear tip-sample interaction will greatly influence the dynamics of the cantilever. In this paper, the effect of the bounded noise parametric excitation on the nonlinear dynamic behavior of dynamic AFM system is investigated. The microcantilever is modeled by a single-lumped-mode approximation and the interactions between the microcantilever and sample are described by the Lennard-Jones (LJ) potential. Numerical simulations are carried out to study the coupled nonlinear dynamic system in terms of bifurcation diagram, Poincaré maps, largest Lyapunov exponent, phase portraits, and time histories in detail. Effects of the density of the random disturbance with bounded noise, material property, and contact angle of the meniscus force are analyzed and discussed. The results indicate that periodic and chaotic motions occur in the dynamic AFM system. It is demonstrated that the coupled dynamic system goes through a complex nonlinear behavior as the system parameters change and the effect of bounded noise cannot be ignored in the further design of an AFM.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 19
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    A SysML-Based Methodology for Manufacturing Machinery Modeling and Design (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: This paper describes a modeling methodology to support the design process of complex systems. The main challenge in modern industrial applications is the sheer volume of data involved in the design process. While using high-level abstraction is necessary to manage this data and analyze the system “as a whole,” designers need also to retain all the low-level information of the system, in order to be able to perform optimizations and modifications at later times. The solution proposed here is to use a hierarchy of models, each one describing the system at different levels of abstraction, and arrange them in such a way that it is possible to easily “map” each level onto the others. The topmost layer of the system description is expressed in System Modeling Language, a general-purpose modeling language based on Unified Modeling Language.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 20
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    Mobile Robot Navigation Through a Hardware-Efficient Implementation for Control-Law-Based Construction of Generalized Voronoi Diagram (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: This paper proposes a navigation control law based on a Lyapunov function for the construction of a generalized Voronoi diagram (GVD), applicable for mobile robots with ultrasonic sensors operating in indoor environments. The proposed control law is a modification of the one in [H. Choset and K. Nagatani, “Topological simultaneous localization and mapping (SLAM): Toward exact localization without explicit localization,” IEEE Trans. Robot. Autom., vol. 17, no. 2, pp. 125-137, Apr. 2001.]. A new definition is proposed for the distance function that renders the proposed modified control law well defined for all points in free space. To follow the trajectory closely, an architecture for the control law based on simultaneous handling of sensors and the motors is proposed. An efficient implementation of the control law using merely a low-end field-programmable gate array and no external memory is presented. Experimental results validate the efficacy of the proposed modified control law. The paper also proves that the proposed modified control law traces the GVD without any approximation. The results are compared with two earlier studies.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 21
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    On the Feasibility and Suitability of MR Fluid Clutches in Human-Friendly Manipulators (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: An investigation into the suitability of magneto-rheological (MR) clutches in the context of developing feasible actuation solutions for physical human-robot interaction is presented. Contact and collision forces pose great danger to humans, and thus, the primary criteria for actuator development is safety. While the majority of existing solutions make use of mechanical compliance in some form, in this paper, we will approach the problem by considering the use of MR clutches for coupling the motor drive to the joint. The suitability of MR actuators to provide an intrinsically safe actuation platform is investigated by modeling the torque to mass, and torque to inertia ratios, as well as output impedance of the MR clutch. These figures are compared to commercially available servo motors as well as mechanically compliant based human-safe actuator models. The MR clutch is analytically shown to have superior mass and inertia characteristics over servo motors while either matching or surpassing the intrinsic safety characteristics of the modeled compliant actuator. The implementation of MR-clutch-based actuation systems is investigated by examining the distributed active semiactive approach. The proposed approach is discussed in terms of mechanical as well controller complexity and relates the investigation to the feasibility of practical implementations. Performance characteristics are empirically investigated by experimentation with a prototype MR clutch constructed for this purpose. The prototype MR clutch can transmit torque up to 75 Nm and has a bandwidth of 30 Hz. Torque to mass and torque to inertia ratios of the prototype MR clutch are substantially greater than that of comparable servo motors. Conclusions drawn from this investigation indicate that indeed MR clutch actuation approaches can be developed to balance safety and performance while maintaining reasonable system complexity.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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    Development of a Variable-Inertia Device With a Magnetic Planetary Gearbox (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: This paper presents a mechanical device with controllable inertia, in which a magnetic planetary gearbox (PG) is employed to hold two free terminals (the carrier and sun gear) and one feedforward control terminal (the ring gear). Based on the concept of inerter design and impedance control, the ring-gear motor controls the equivalent inertia of the carrier. The sealless nature of the proposed noncontact magnetic PG provides a low-inertia design ability and an over-load protection characteristic for a high-torque transmission. The control block diagram technique is utilized to represent the dynamic model of the variable-inertia device for the equivalent-inertia derivation and computer simulation, in which its equivalent inertia can be found by the transfer function from the torque to the acceleration at the carrier. Finally, the dynamic model is verified by experiments, and the controlled range of the equivalent inertia is illustrated.
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    Dynamic Force Sensing Using an Optically Trapped Probing System (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: This paper presents the design of an adaptive observer that is implemented to enable real-time dynamic force sensing and parameter estimation in an optically trapped probing system. According to the principle of separation of estimation and control, the design of this observer is independent of that of the feedback controller when operating within the linear range of the optical trap. Dynamic force sensing, probe steering/clamping, and Brownian motion control can, therefore, be developed separately and activated simultaneously. The adaptive observer utilizes the measured motion of the trapped probe and input control effort to recursively estimate the probe-sample interaction force in real time, along with the estimation of the probing system's trapping bandwidth. This capability is very important to achieving accurate dynamic force sensing in a time-varying process, wherein the trapping dynamics is nonstationary due to local variations of the surrounding medium. The adaptive estimator utilizes the Kalman filter algorithm to compute the time-varying gain in real time and minimize the estimation error for force probing. A series of experiments are conducted to validate the design of and assess the performance of the adaptive observer.
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    An Accelerometer Configuration for Reference-Frame-Independent Linear-State Estimation (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: This paper presents a novel three single-axis accelerometer configuration for measuring relative acceleration in a moving reference frame without knowledge of motion or orientation of the moving frame itself. Also presented is an extended Kalman filter (EKF) that combines this relative acceleration measurement with a linear-position measurement for state estimation. The motivation for this approach is the need for high-quality linear-state estimation in pneumatic cylinder control, but potential applications of this approach are much broader, including mobile robots and general relative linear-state sensing. When applied to a pneumatic cylinder, this method eliminates the need for kinematic knowledge of the cylinder base and allows state estimation to be implemented at the cylinder level without regard to the external motion of the robot. Experimental tests were performed to compare the presented reference-frame-independent EKF method to a standard kinematically dependent end-effector EKF. When kinematic knowledge of the end effector is known, both standard and presented methods perform well as expected. However, removing kinematic knowledge of the local reference frame adversely affects the performance of a standard kinematically dependent EKF, but does not affect the performance of the presented method as it does not depend on such global kinematic knowledge. Experimental results also show that the addition of a direct relative velocity measurement does not significantly improve performance over the presented method.
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    Indirect Adaptive Control of an Electrohydraulic Servo System Based on Nonlinear Backstepping (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: This paper studies the real-time position control of an electrohydraulic system using indirect adaptive backstepping. Electrohydraulic systems are known to be highly nonlinear and nondifferentiable. Backstepping is used for being a powerful, nonlinear control strategy and for its ability to ensure an asymptotic stability of the controlled system without canceling useful nonlinearities. On the other hand, hydraulic parameters are prone to variations; it is, therefore, useful to employ an adaptive control strategy in order to update the controller with the parameters variation. In such a case, indirect adaptive control is highly recommended, among other adaptive controller types, as it has the benefit of identifying the real system parameters value. Since not much literature is available for the indirect method as applied to the hydraulic systems, because of its implementation complexity, this paper shows how efficiently this method can handle the parameter estimates.
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    Study of a New Strategy for Pneumatic Actuator System Energy Efficiency Improvement via the Scroll Expander Technology (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
    Description: Although pneumatic actuators have been widely used in industry and other application areas, its weakness in low-energy efficiency is well known. Aiming for energy efficiency improvement, this paper presents a new hybrid pneumatic system that will recover energy from the exhaust compressed air through a scroll expander. The scroll expander drives a generator to convert the exhaust compressed air energy to electrical energy; thus, the proposed system is entitled “pneumatic-electrical” system. A closed-loop coordinate control strategy is engaged and proven to be essential in maintaining proper actuator operation status, while the scroll expander is connected in. The overall system mathematical model is derived and simulation results are presented in this paper. A test rig is set up to verify the feasibility of the proposed system structure. Both simulation and test results indicate that the proposed scheme is realistic and work well.
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    A Piezoelectric Energy Harvester for Rotary Motion Applications: Design and Experiments (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
    Description: This paper investigates the analysis and design of a vibration-based energy harvester for rotary motion applications. The energy harvester consists of a cantilever beam with a tip mass and a piezoelectric ceramic attached along the beam that is mounted on a rotating shaft. Using this system, mechanical vibration energy is induced in the flexible beam due to the gravitational force applied to the tip mass while the hub is rotating. The piezoelectric transducer is used to convert the induced mechanical vibration energy into electricity. The equations of motion of the flexible structure are utilized along with the physical characteristics of the piezoelectric transducer to derive expressions for the electrical power. Furthermore, expressions for the optimum load resistance and maximum output power are obtained and validated experimentally using PVDF and PZT transducers. The results indicate that a maximum power of 6.4 mW at a shaft speed of 138 rad/s can be extracted by using a PZT transducer with dimensions 50.8 mm × 38.1 mm × 0.13 mm. This amount of power is sufficient to provide power for typical wireless sensors such as accelerometers and strain gauges.
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    Magnetic Gear Pole-Slip Prevention Using Explicit Model Predictive Control (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
    Description: This paper considers the phenomenon of “pole slipping” in magnetic gears and couplings as a result of torque overload. Specifically, previously reported work on optimized servo speed control and pole-slip detection in magnetic gears is extended through the development of a new control scheme to prevent pole slipping due to combined controller and load torque overload. By utilizing a model predictive control (MPC) strategy, the controller's principal objective is to prevent the magnetic gear from pole slipping by invoking hard constraints on the amount of controller torque that can be applied for a given steady-state load torque. A custom demonstrator drivetrain incorporating a magnetic coupling (1:1 magnetic gear) is used to experimentally verify pole-slip prevention using an implementation of explicit MPC via multiparametric quadratic programming (mp-QP). It is shown that while conventional MPC is restricted to systems with relatively low sample rates, due to the need to solve the constrained optimization problem in real time, an alternative explicit form of MPC can be readily utilized at sample rates more typically found in electrical drive applications. The underlying principles and benefits afforded by the proposed techniques are validated using simulation and experimental measurements from the drivetrain test facility, using only motor-side sensor measurements and load-side state estimates via a discrete-time observer.
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    Adaptive Control of Manipulators Forming Closed Kinematic Chain With Inaccurate Kinematic Model (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
    Description: The problem of self-tuning control of cooperative manipulators forming closed kinematic chain in the presence of inaccurate kinematics model is addressed in this paper. The kinematic parameters pertaining to the relative position/orientation uncertainties of the interconnected manipulators are updated online by two cascaded estimators in order to tune a cooperative controller for achieving accurate motion tracking with minimum-norm actuation force. This technique permits accurate calibration of the relative kinematics of the involved manipulators without needing high precision end-point sensing or force measurements, and hence, it is economically justified. Investigating the stability of the entire real-time estimator/controller system reveals that the convergence and stability of the adaptive control process can be ensured if 1) the direction of angular velocity vector does not remain constant over time, and 2) the initial kinematic parameter error is upper bounded by a scaler function of some known parameters. The adaptive controller is proved to be singularity-free even though the control law involves inverting the approximation of a matrix computed at the estimated parameters. Experimental results demonstrate the sensitivity of the tracking performance of the conventional inverse dynamic control scheme to kinematic inaccuracies, while the tracking error is significantly reduced by the self-tuning cooperative controller.
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    Noncontact Operation of a Miniature Cycloid Motor by Magnetic Force (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
    Description: Noncontact operation of a cycloid motor by means of a magnetic force has been realized. The fabricated motor has a cycloid reduction system with an internal gear as a stator and an external gear as a rotor. A cylindrical permanent magnet encloses the internal gear. The internal gear generates a wobbling motion due to attractive and repulsive magnetic forces produced by external permanent magnets. An output shaft attached to an external gear is rotated by the wobbling motion of the internal stator gear. This motor can be operated by means of magnetic fields applied to one side of the device. This feature allows the device to be used in medical procedures such as bone distraction osteogenesis, in which the actuator must be inside the human body for a long period of time. Such noncontact operation of the actuator reduces the burden on the patient. The fabricated motor exhibited a maximum torque of 4.1 mN·m and a maximum linear output of 4.9 N using a screw-nut system when the gap between the outer magnets and the motor was 2 mm.
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    Generic Approach to Stability Under Time-Varying Delay in Teleoperation: Application to the Position-Error Control of a Gantry Crane (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
    Description: In this paper, we develop a generic approach for modeling a teleoperation setup, as a negative single feedback loop containing a linear time-invariant block and an uncertain time-varying delay. It is not based on specific dynamics of masters and slaves, neither on any control architecture. The main added value of the proposed approach is the possibility of deriving frequency-domain conditions for robust stability in the presence of time-varying delays and parametric uncertainties. To address stability, we choose a primitive result providing a bound of certain delay subsystem. We combine this, with input–output stability criteria and μ-analysis and synthesis techniques, to reach a procedure based on the structured singular value providing less conservative results. Finally, our approach is presented within a suggested flowchart that helps the designer to manage the control parameter ranges and facilitates the gradual achievement of stability, robust stability, and performance properties. As a case study, we consider the Internet-based teleoperation of a gantry crane by means of the position-error control architecture. We have also obtained actual delay bounds appearing with UDP protocol for different Internet locations. Simulation and experimental results confirm the robust performance of the teleoperation system in terms of stability and tracking behavior.
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    Design and Coordination Kinematics of an Insertable Robotic Effectors Platform for Single-Port Access Surgery (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
    Description: Single port access surgery (SPAS) presents surgeons with added challenges that require new surgical tools and surgical assistance systems with unique capabilities. To address these challenges, we designed and constructed a new insertable robotic end-effectors platform (IREP) for SPAS. The IREP can be inserted through a Ø15 mm trocar into the abdomen and it uses 21 actuated joints for controlling two dexterous arms and a stereo-vision module. Each dexterous arm has a hybrid mechanical architecture comprised of a two-segment continuum robot, a parallelogram mechanism for improved dual-arm triangulation, and a distal wrist for improved dexterity during suturing. The IREP is unique because of the combination of continuum arms with active and passive segments with rigid parallel kinematics mechanisms. This paper presents the clinical motivation, design considerations, kinematics, statics, and mechanical design of the IREP. The kinematics of coordination between the parallelogram mechanisms and the continuum arms is presented using the pseudo-rigid-body model of the beam representing the passive segment of each snake arm. Kinematic and static simulations and preliminary experiment results are presented in support of our design choices.
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    Do what you do better with What's New @ IEEE Xplore (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
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    IEEE Global History Network (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
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    Robust Structure-Control Design Approach for Mechatronic Systems (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
    Description: In this paper, a robust formulation for the structure-control design of mechatronic systems is developed. The proposed robust approach aims at minimization of the sensitivity of the nominal design objectives with respect to uncertain parameters. The robust integrated design problem is established as a nonlinear multiobjective dynamic optimization one, which in order to consider synergetic interactions uses mechanical and control nominal design objectives. A planar parallel robot and its controller are simultaneously designed with the proposed approach when the nominal design objectives are the tracking error and the manipulability measure. The payload at the end-effector is considered as the uncertain parameter. Experimental results show that a robustly designed parallel robot presents lower sensitivity of the nominal design objectives under the effects of changes at the payload than a nonrobustly designed one.
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    High-Stability and Fast-Response Twisting Motion Control for the Magnetically Suspended Rotor System in a Control Moment Gyro (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
    Description: To effectively improve the stability and dynamic performance of the twisting motion of the magnetically suspended rotor in a control moment gyro, a high-stability and fast-response twisting motion control strategy named as dynamic feedback–feedforward control is proposed in this paper. This method is oriented to the feedforward control strategy and the dynamic feedback signals are employed to determine the current feedforward values. The common issues caused by twisting motion can be effectively resolved by the proposed method. To verify the feasibility and superiority of this control method, comparative simulations and experiments between the traditional method and the proposed one are carried out.
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    Modeling and Experimental Investigation of Rotational Resistance of a Spiral-Type Robotic Capsule Inside a Real Intestine (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
    Description: In this study, the rotational resistance of a spiral-type capsule rotating inside a small intestine is investigated by in vitro experiments and analytical modeling, on which a limited literature is available. The results presented exhibit viscoelastic nature of the intestinal tissue. The significance of various spiral structures and rotating speeds is quantitatively evaluated from the propulsion point of view. Also, an analytical torque model is proposed and subsequently validated. The close match between the experimental results and numerical results from the model shows that the model is reasonably accurate to estimate the rotational resistance torque of the small intestine. Both the experimental and modeling works provide a useful guide to determine the torque required for a spiral-type endoscopic capsule operating in a “really” small intestine. Therefore, the proposed torque model can be used in the design and optimization of in-body robotic systems, which can remotely be articulated using magnetic actuation.
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    An Algebraic Recursive Method for Parameter Identification of a Servo Model (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
    Description: This study proposes a two-step identification method for estimating the four parameters of a nonlinear model of a position-controlled servomechanism. In the first step, the proposed approach, called the algebraic recursive identification method (ARIM), uses a parametrization derived from the operational calculus currently employed in algebraic identification methods (AIM) recently proposed in the literature. The procedure for obtaining this parametrization eliminates the effect of constant disturbances affecting the servomechanism and filters out the high-frequency measurement noise. A recursive least squares algorithm uses the parametrization for estimating the linear part of the servomechanism model, and allows eliminating the singularity problems found in the AIM. The second step uses the parameters obtained in the first step for computing the Coulomb friction coefficient and the constant disturbance acting on the servomechanism. Experimental results on a laboratory prototype allow comparing the results obtained using the AIM and the ARIM.
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    Predictive Consumption Models for Electropneumatic Production Systems (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-17
    Description: A predictive consumption model suitable for industrial type pneumatic production systems is presented in this paper. The model is developed in MATLAB Simulink and interfaced with a programmable logic controller via an OPC server. Theoretical model development and validation are discussed with particular emphasis on applicability to industrial systems. Currently, consumers such as linear cylinders, semirotary actuators, grippers, open pipes, nozzles, and leakage can be accounted for with the model. The proposed modeling approach will enable a greater understanding of the dynamic demand for compressed air by production machines and lines.
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    A MEMS-Based Catalytic Microreactor for a H $_{bf 2}$ O $_{bf 2}$ Monopropellant Micropropulsion System (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: The next generation of miniaturized satellites (‘nanosats’) feature dramatically reduced thrust and impulse requirements for purposes of spacecraft attitude control and maneuvering. The present study is a joint computational and experimental design effort at developing a new MEMS-based microreactor configuration for incorporation into a monopropellant micropropulsion system. Numerical models of the gas phase catalytic decomposition in microchannel configurations are used to obtain critical sizing requirements for the reactor design. The computational results show that the length scales necessary for complete decomposition are compatible with MEMS-based designs; however, it is also found that the catalytic process is dominated by mass diffusion characteristics within the flow at this scale. Experimentally, a microscale catalytic reactor prototype has been designed and microfabricated using MEMS techniques. The reactor uses self-assembled ruthenium oxide nanorods grown on the wall surfaces as a catalyst. Experimental testing indicates that only partial decomposition of the hydrogen peroxide is achieved. Among the potential sources of the incomplete decomposition, a likely cause appears to be the inability of the H $_2$ O $_2$ reactant stream to adequately wet the surface of the catalyst film composed of a high surface density of RuO $_2$ nanorods.
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    Guest Editorial Focused Section on Aerospace Mechatronics (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
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    Toward an Accurate Physics-Based UAV Thruster Model (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: Small unmanned aerial vehicles (UAVs) come in many types, the most common being fixed-wing and rotorcraft. Most of these are powered by brushless dc motors driving fixed-pitch propellers. Since the thrusters are typically quite powerful, relative to the weight of the aircraft, the motion of these UAVs is usually dominated by the thruster dynamics. It therefore becomes particularly important to have a good model of the thruster, which can be assembled based on simple measurements of the system properties, rather than from exhaustive testing. This paper presents such a model. The governing equations are assembled by considering, in succession, the motor electrodynamics and the propeller aerodynamics. The results of the model are compared to experimental test results for a particular thruster assembly. Agreement between the two is excellent—with an error of 4.7% in thrust and 7.6% in torque under static conditions—thereby demonstrating the validity of the proposed approach.
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    A Novel Cascade Temperature Control System for a High-Speed Heat-Airflow Wind Tunnel (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: In order to meet stringent temperature-control requirements in a high-speed airflow wind tunnel (HAWT) for thermal simulation under complicated work conditions such as thermal strength experiment of aero engine blade and dynamic calibration of high temperature thermal coupler, this paper proposes a novel cascade fuzzy-PID (C-Fuzzy-PID) compound control method for regulating the fuel-oil flow rate in the inner loop and temperature in the outer loop. The mathematical models that characterize the dynamics of the heat airflow temperature in the combustor and the fuel-oil flow rate for combustion are derived, upon which the improved PID control laws for the inner and outer loops are described. The former employs a fuzzy-PID controller with a predictor for controlling flow rate in the inner loop, which effectively overcomes influences according to its characteristics of large inertia and transport lag in fuel-oil supply system on the temperature responses. The latter combines disturbance compensation and a fuzzy-PID feedback law to suppress influences due to factors such as change in work conditions, disturbances, and time-varying parameter variations. The C-Fuzzy-PID method has been numerically investigated by comparing simulation results against two traditional PID-based methods, as well as experimentally validated confirming that the proposed control algorithm has strong robustness and excellent adaptability for temperature control of an HAWT.
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    Semiautonomous Haptic Teleoperation Control Architecture of Multiple Unmanned Aerial Vehicles (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: We propose a novel semiautonomous haptic teleoperation control architecture for multiple unmanned aerial vehicles (UAVs), consisting of three control layers: 1) UAV control layer, where each UAV is abstracted by, and is controlled to follow the trajectory of, its own kinematic Cartesian virtual point (VP); 2) VP control layer, which modulates each VP’s motion according to the teleoperation commands and local artificial potentials (for VP–VP/VP-obstacle collision avoidance and VP–VP connectivity preservation); and 3) teleoperation layer, through which a single remote human user can command all (or some) of the VPs’ velocity while haptically perceiving the state of all (or some) of the UAVs and obstacles. Master passivity/slave stability and some asymptotic performance measures are proved. Experimental results using four custom-built quadrotor-type UAVs are also presented to illustrate the theory.
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    Model-Based and Data-Driven Fault Detection Performance for a Small UAV (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: Fault detection and identification algorithms may rely on knowledge of underlying system dynamics while some eschew this modeling in favor of data-driven anomaly detection. This paper considers model-based residual generation and data-driven anomaly detection for a small, low-cost unmanned aerial vehicle using both types of approaches and applies those algorithms to experimental faulted and unfaulted flight-test data. The model-based fault detection strategy uses robust linear filtering methods to reject exogenous disturbances, e.g., wind, and provide robustness to model errors. The data-driven algorithm is developed to operate exclusively on raw flight-test data without detailed system knowledge. The detection performance of these complementary, but different, methods is compared.
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    Wireless In-Piping Actuator Capable of High-Speed Locomotion by a New Motion Principle (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: Finding damage inside pipes is important for the inspection of pipes used in nuclear power plants and chemical plants. A number of studies have investigated the mechanisms of an actuator with an electric cable to provide locomotion through various devices in pipes. A wireless actuator capable of movement in narrow pipes of several millimeters in diameter has not yet been developed. This paper proposes a novel wireless magnetic actuator with a new propulsion module that exhibits a very high thrusting force and is capable of locomotion in a thin pipe by a new motion principle. Including this principle, we completely established the motion principles of three types due to the change of a supporting force of the wireless magnetic actuator by a theory and an experiment. The application of a rubber leg having optimal flexural rigidity demonstrates that a reciprocating motion caused by vibration can be efficiently converted into movement in one direction. This actuator contains an electrical inverter that directly transforms dc from button batteries into ac. The actuator is moved by the synergy of the vibration amplitude and elastic energy of the mass–spring system due to mechanical resonance energy. Experimental results indicate that the proposed actuator is able to move upward at a speed of 68.5 mm/s by the power provided by ten button batteries when pulling a 10-g load mass. This wireless magnetic actuator has several possible applications, including small pipe inspection and maintenance.
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    Active Disturbance Rejection Control Based on an Improved Equivalent-Input-Disturbance Approach (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: This paper presents an improved equivalent-input-disturbance (IEID) approach for disturbance rejection. It can be used for both minimum- and nonminimum-phase plants. First, a full-order generalized state observer (GSO) is employed in the construction of an IEID-based servo system to estimate an equivalent input disturbance. Then, a stability condition is derived and a GSO design algorithm is developed based on the stability condition and a pole placement algorithm. Finally, a numerical example demonstrates the validity of this method.
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    Approaching Servoclass Tracking Performance by a Proportional Valve-Controlled System (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: An industry-grade proportional valve is much cheaper and rugged than a servovalve. A feedforward controller for a proportional-valved system has been developed here to achieve tracking controls beyond 1 Hz that are usually attained by servovalves. For compensating the higher nonlinearities, feedforward controllers have been designed offline by proposing appropriate static models for friction and valve flow and executing the supporting experiments. These controllers have been implemented with real-time PID feedback of only the piston displacement. Excellent tracking performance has been obtained up to 2 Hz that has deteriorated with an increase in cylinder friction.
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    Together, we are advancing technology (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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    Bilateral Teleoperation With Time-Varying Delay: A Communication Channel Passification Approach (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: In this paper, the activeness of bilateral communication with time-varying delay is analyzed. Based on the power-based time-domain passivity control previously proposed, a time-domain passivity control approach is derived for bilateral communication. Teleoperation experimental results verify the effectiveness.
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    Novel Model-Based Estimators for the Purposes of Fault Detection and Diagnosis (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: The interacting multiple model (IMM) strategy is particularly useful for systems that behave according to a number of different operating modes. In this strategy, each operating mode is described by a model and has its own filter. The filters are run in parallel, and an overall operating mode probability is calculated that provides an indication of the current operating regime of the system. The smooth variable structure filter (SVSF) is a relatively new estimation method based on the sliding mode concept, formulated in a predictor-corrector form. For systems with modeling uncertainties, the SVSF has shown to be more accurate and robust when compared with other methods such as the extended Kalman filter (EKF). A newer form of the SVSF makes use of a time-varying smoothing boundary layer (SVSF-VBL). This paper introduces new model-based estimators; based on the IMM strategy combined with the SVSF and SVSF-VBL, referred to as the IMM-SVSF and IMM-SVSF-VBL, respectively. The new strategies are applied to a type of aerospace actuator referred to as an electrohydrostatic actuator, which provides a comprehensive system for fault detection and diagnosis. The results are compared with the popular IMM-EKF strategy.
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    Robust Magnetic Attitude Control of Satellites (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: Magnetic torquers are frequently adopted as primary actuators for the attitude control of small satellites in low Earth orbit. Such actuators generate a magnetic dipole which, in turn, leads to control torques thanks to the interaction with the magnetic field of the Earth. The design of attitude control laws based on magnetic torquers is a challenging problem as the torques generated by the coils are instantaneously constrained to lie in the plane orthogonal to the local direction of the geomagnetic field vector, which varies according to the current orbital position of the spacecraft. This implies that the attitude regulation problem is formulated over a time-varying model. In this paper, the design of control laws for magnetically actuated spacecraft is considered and an approach guaranteeing robustness to parametric uncertainty and optimal performance in terms of disturbance attenuation is presented. The proposed method is based on linear time-periodic models and $H_infty$ control theory. The results obtained by applying the proposed approach in a simulation study are also presented and discussed.
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    Nonfragile Output Tracking Control of Hypersonic Air-Breathing Vehicles With an LPV Model (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: This paper presents a novel nonfragile output tracking control scheme for flexible hypersonic air-breathing vehicles (HAVs). This problem is challenging due to the complex interactions between the aerodynamics, the propulsion system, and the structural dynamics. By utilizing the curve-fit and the least-squares methods, a new model for HAVs is established, and then converted into a linear parameter-varying system, in which the scheduling variables depend on a handful of meaningful states and parameters. With a specified reference model, a tracking error model is also proposed. The nonfragile output tracking controller is designed, which guarantees the tracking error dynamics to be robustly stable. Finally, simulation results are presented to show the effectiveness of the proposed control design scheme.
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    IEEE/ASME Transactions on Mechatronics publication information (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
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    Experimental Validation for a Multifunctional Wing Spar With Sensing, Harvesting, and Gust Alleviation Capabilities (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: This paper experimentally examines a multifunctional gust alleviation system and holds promise for improving small unmanned aerial vehicles performance in wind gusts. The designed multifunctional wing spar is able to harvest energy itself from the normal vibrations during flight. If the wing experiences any strong wind gust, it will provide vibration control to maintain its stability. The proposed wing spar carries on the functions of energy harvesting, strain sensing, and gust alleviation via piezoelectric materials. A closed form electromechanical cantilever multifunctional beam model is developed, which captures the basics of piezoelectric constitute equations using Euler–Lagrange equations. An enhanced two mode reduced energy control (REC) law is developed to saturate a positive strain feedback (PSF) control law, and therefore decrease energy consumption but maintains the same gust alleviation performance. An equivalent circuit model is also developed based on the distributed parameter method to represent a multifunctional gust alleviation system using harvested energy. Experimental results show that compared to conventional PSF control law, the REC decreases voltage supply from ±20 to ±4 V, uses 76% less energy whereas maintaining the same performance. Experimental results also show that it is feasible to alleviate wind gust disturbance using harvested power from ambient vibrations, but requires the harvesting time to be 0.42 times longer than the wind gust duration.
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    Fully Autonomous Vision-Based Net-Recovery Landing System for a Fixed-Wing UAV (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: This paper presents an autonomous vision-based net-recovery system for small fixed-wing unmanned aerial vehicles (UAVs). A fixed-wing UAV platform is constructed using various avionic sensors, and integrated with a flight control system and a vision system. The ground operation system consists of a vision station and ground control station that provide operation commands and monitor the UAV status. The vision algorithm to detect the recovery net and provide the bearing angle to the guidance algorithm is explained, along with the discussions on the techniques employed to improve the reliability of visual detection. The system identification process and controller are described, which enables to track given waypoints and to approach the detected net under the pursuit guidance law. Experimental results show the autonomous capabilities including take-off, waypoint following, and vision-based net recovery. The proposed technique can be an effective solution to recover fixed-wing UAVs without resorting to a complicated structure such as an instrumented landing system or expensive sensors such as a differential GPS.
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    Computer-Vision-Based Wheel Sinkage Estimation for Robot Navigation on Lunar Terrain (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: This paper presents a wheel sinkage detection method that may be used in robotic lunar exploration tasks. The method extracts the boundary line between a robot wheel and lunar soil by segmenting the wheel–soil image captured from a video camera that monitors wheel–soil interaction. The detected boundary is projected onto the soil-free image of the robot wheel to determine the parameters of wheel sinkage. The segmentation method is based on a graph theory. It first clusters a wheel–soil image into homogeneous regions called superpixels and constructs a graph on the superpixels. It then partitions the graph into segments by using normalized cuts. Compared with the existing wheel sinkage detection methods, the proposed algorithm is more robust to illumination condition, shadows, and dust (covering the wheel). The method's efficacy has been validated by experiments under various conditions.
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    Speed-Sensorless Vector Control of a Bearingless Induction Motor With Artificial Neural Network Inverse Speed Observer (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: To effectively reject the influence of speed detection on system stability and precision for a bearingless induction motor, this paper proposes a novel speed observation scheme using artificial neural network (ANN) inverse method. The inherent subsystem consisting of speed and torque winding currents is modeled, and then its inversion is implemented by the ANN. The speed is successfully observed via cascading the original subsystem with its inversion. The observed speed is fed back in the speed control loop, and thus, the speed-sensorless vector drive is realized. The effectiveness of this proposed strategy has been demonstrated by experimental results.
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    Identification and Compensation of Nonlinear Friction Characteristics and Precision Control for a Linear Motor Stage (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: The main goal of this investigation is to improve the tracking accuracy of the stage of a linear motor. A DC brushless linear motor is used to actuate a gantry stage to perform printing. To compensate for the tracking error of the gantry stage that is associated with nonlinear friction, the dynamics of the nonlinear static friction are formulated using the Hsieh–Pan model. Particle swarm optimization (PSO), genetic algorithm, and real-coded genetic algorithm-based optimization problems are investigated to evaluate the parameters of the nonlinear friction model. The use of PSO-based optimization to tune the parameters of a disturbance-observer-based variable structure controller is also discussed to improve the tracking response. To check the consistency of the proposed controller, it is implemented in real time and an improved positional accuracy better than 0.1 μm is readily achieved.
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    Physical Connection and Disconnection Control Based on Hot Melt Adhesives (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: Physical connection and disconnection control has practical meanings for robot applications. Compared to conventional connection mechanisms, bonding involving a thermal process could provide high connection strength, high repeatability, and power-free connection maintenance, etc. In terms of disconnection, an established bond can be easily weakened with a temperature rise of the material used to form the bond. Hot melt adhesives (HMAs) are such material that can form adhesive bonds with any solid surfaces through a thermally induced solidification process. This paper proposes a novel control method for automatic connection and disconnection based on HMAs. More specifically, mathematical models are first established to describe the flowing behavior of HMAs at higher temperatures, as well as the temperature-dependent strength of an established HMA bond. These models are then validated with a specific type of HMA in a minimalistic robot setup equipped with two mechatronic devices for automated material handling. The validated models are eventually used for determining open parameters in a feedback controller for the robot to perform a pick-and-place task. Through a series of trials with different wooden and aluminum parts, we evaluate the performance of the automatic connection and disconnection methods in terms of speed, energy consumption, and robustness.
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    Effects of Magnetic Pole Design on Orientation Torque for a Spherical Motor (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: This paper investigates the effect of pole layouts of permanent magnets (PMs) and electromagnets (EMs) on inclination torque of a multidegrees of freedom (DOFs) spherical motor (SM). Unlike conventional electromagnetic actuators capable of controlling a single DOF motion in spinning, the SM offers a unique ability to control orientation of a spinning rotor. Although the motor offers such attractive feature, it is essential to generate torque to maintain at a desired orientation. However, it is challenging to design the motor enhancing the orientation torque due to a limited number and space for PMs and EMs involved in orientation motion unlike spinning. This paper presented a new design of the SM maximizing inclination torque by evaluating the number of PMs and materials of structure such as iron and aluminum. Then, the torque of the proposed designs has been compared by results from a numerical finite-element method technique as well as an experiment. Finally, dynamics and control simulations are demonstrated to ensure the effective enhancement of the proposed SM.
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    Magnetically Actuated Soft Capsule With the Multimodal Drug Release Function (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: In this paper, we present a magnetically actuated multimodal drug release mechanism using a tetherless soft capsule endoscope for the treatment of gastric disease. Because the designed capsule has a drug chamber between both magnetic heads, if it is compressed by the external magnetic field, the capsule could release a drug in a specific position locally. The capsule is designed to release a drug in two modes according to the situation. In the first mode, a small amount of drug is continuously released by a series of pulse type magnetic field (0.01–0.03 T). The experimental results show that the drug release can be controlled by the frequency of the external magnetic pulse. In the second mode, about 800 mm $^{3}$ of drug is released by the external magnetic field of 0.07 T, which induces a stronger magnetic attraction than the critical force for capsule's collapsing. As a result, a polymeric coating is formed around the capsule. The coated area is dependent on the drug viscosity. This paper presents simulations and various experiments to evaluate the magnetically actuated multimodal drug release capability. The proposed soft capsules could be used as minimally invasive tetherless medical devices with therapeutic capability for the next generation capsule endoscopy.
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    IEEE/ASME Transactions on Mechatronics information for authors (2013)
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    Publication Date: 2013-07-10
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    Two ways to Access the IEEE Member Digital Library (2013)
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    Publication Date: 2013-07-10
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    Meshworm: A Peristaltic Soft Robot With Antagonistic Nickel Titanium Coil Actuators (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
    Description: This paper presents the complete development and analysis of a soft robotic platform that exhibits peristaltic locomotion. The design principle is based on the antagonistic arrangement of circular and longitudinal muscle groups of Oligochaetes. Sequential antagonistic motion is achieved in a flexible braided mesh-tube structure using a nickel titanium (NiTi) coil actuators wrapped in a spiral pattern around the circumference. An enhanced theoretical model of the NiTi coil spring describes the combination of martensite deformation and spring elasticity as a function of geometry. A numerical model of the mesh structures reveals how peristaltic actuation induces robust locomotion and details the deformation by the contraction of circumferential NiTi actuators. Several peristaltic locomotion modes are modeled, tested, and compared on the basis of speed. Utilizing additional NiTi coils placed longitudinally, steering capabilities are incorporated. Proprioceptive potentiometers sense segment contraction, which enables the development of closed-loop controllers. Several appropriate control algorithms are designed and experimentally compared based on locomotion speed and energy consumption. The entire mechanical structure is made of flexible mesh materials and can withstand significant external impact during operation. This approach allows a completely soft robotic platform by employing a flexible control unit and energy sources. $^{bf 1}$
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    IEEE/ASME Transactions on Mechatronics information for authors (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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    Estimation of Soft Tissue Mechanical Parameters From Robotic Manipulation Data (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-17
    Description: Robotic motion planning algorithms used for task automation in robotic surgical systems rely on the availability of accurate models of target soft tissue’s deformation. Relying on generic tissue parameters in constructing the tissue deformation models is problematic because biological tissues are known to have very large (inter- and intrasubject) variability. A priori mechanical characterization (e.g., uniaxial bench test) of the target tissues before a surgical procedure is also not usually practical. In this paper, a method for estimating mechanical parameters of soft tissue from sensory data collected during robotic surgical manipulation is presented. The method uses force data collected from a multiaxial force sensor mounted on the robotic manipulator, and tissue deformation data collected from a stereo camera system. The tissue parameters are then estimated using an inverse finite element method. The effects of measurement and modeling uncertainties on the proposed method are analyzed in simulation. The results of experimental evaluation of the method are also presented.
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    Through-Silicon Stroboscopic Characterization of an Oscillating MEMS Thermal Actuator Using Supercontinuum Interferometry (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-10
    Description: We measured the surface profile of the hidden face of a thermally actuated oscillating 4-μm-thick silicon microelectromechanical system (MEMS) bridge. To do this, we employed a stroboscopically synchronized supercontinuum light source incorporated into a scanning low-coherence interferometer. The instrument exploited the near-infrared part (1.1–1.7 μm) of the emitted spectrum and a camera sensitive to near infrared. The MEMS bridge was driven with 6.8-V sinusoidal voltage at 10 Hz, which resulted in oscillation amplitudes of 1.50 ± 0.07 μm and 1.35 ± 0.07 μm for the top and bottom surfaces, respectively. We believe this technique opens up new possibilities for validating simulation effort as well as for qualifying new device designs.
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    A Quasi-Spherical Triangle-Based Approach for Efficient 3-D Soft-Tissue Motion Tracking (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
    Description: Recently, model-based visual-tracking techniques have been developed for measuring physiological motion in robot-assisted minimally invasive surgery. However, the tracking of living tissue surfaces in 3-D space is very challenging. Linear models are difficult to fit complex tissue dynamics, while current nonlinear models generally suffer from complex implementation and excessive computational burden. Instrument occlusion is another challenging issue which often causes tracking failure. In this study, we propose a novel deformable model suitable for real-time 3-D tissue tracking based on a quasi-spherical triangle. The model is parameterized by three vertices of the triangle with a curving parameter so that the warped surface can be computed efficiently using matrix operations. An efficient second-order minimization technique is employed to estimate model parameters, and the Jacobian matrix associated with the proposed model is derived. To alleviate the effects of illumination, a triangle-based illumination model is incorporated into the tracking scheme. A new motion prediction algorithm is developed by exploring the peak-valley characteristics of motion signals to handle the occlusion problem. The performance of the proposed method is validated using phantom heart data and in vivo videos acquired by the daVinci surgical robotic platform.
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    Publication Date: 2013-07-13
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    Switched Reluctance Motor Drive With External Rotor for Fan in Air Conditioner (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
    Description: This paper describes the developed three-phase 6/8 poles switched reluctance external rotor motor drive for a fan in air conditioner. The external rotor core structure and the internal stator core structure, the three-phase windings arrangement, the slotted claw, and the setting structure of the photoelectric transducers on the rotor position detector are illustrated. The electromagnetic field calculation results are given. The three-phase asymmetric bridge power converter was used in the drive system. The block diagram of the switched reluctance external rotor motor drive with closed-loop rotor speed control is given. The closed-loop rotor speed control is implemented using a fuzzy logic algorithm. The experimental tests of the developed prototype are made for driving the fan from 200 to 950 r/min. The comparison results of the two systems show that the input power and input phase current RMS value are lower in the developed three-phase 6/8 poles external rotor switched reluctance motor drive prototype with the fan than those in the induction motor variable-frequency variable-speed drive with the fan.
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    Motion Control of Piezoelectric Positioning Stages: Modeling, Controller Design, and Experimental Evaluation (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-13
    Description: In this paper, a general skeleton on modeling, controller design, and applications of the piezoelectric positioning stages is presented. Toward this framework, a general model is first proposed to characterize dynamic behaviors of the stage, including frequency response of the stage, voltage–charge hysteresis and nonlinear electric behavior. To illustrate the validity of the proposed general model, a dynamic backlash-like model is adopted as one of hysteresis models to describe the hysteresis effect, which is confirmed by experimental tests. Thus, the developed model provides a general frame for controller design. As an illustration to this aspect, a robust adaptive controller is developed based on a reduced dynamic model under both unknown hysteresis nonlinearities and parameter uncertainties. The proposed control law ensures the boundedness of the closed-loop signals and desired tracking precision. Finally, experimental tests with different motion trajectories are conducted to verify the proposed general model and the robust control law. Experimental results demonstrate the excellent tracking performance, which validates the feasibility and effectiveness of the proposed approach.
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    Electrorheological Semiactive Shock Isolation Platform for Naval Applications (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-17
    Description: This paper presents a semiactive shock absorber system, which utilizes the special properties of electrorheological (ER) valves and which is intended to protect sensitive equipment on ships or submarines. It consists of a platform and a base plate, which are connected via an ER damper and an air spring. The resulting acceleration of the platform upon an external shock of the base plate should be significantly reduced while assuring fast and accurate repositioning of the platform after the shock. A control strategy is discussed, which fulfills these requirements using only one acceleration sensor. Simulation studies and measurement results on a prototype prove the feasibility of the proposed system.
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    Inverse Rate-Dependent Prandtl–Ishlinskii Model for Feedforward Compensation of Hysteresis in a Piezomicropositioning Actuator (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-07-17
    Description: Piezomicropositioning actuators, which are widely used in micropositioning applications, exhibit strong rate-dependent hysteresis nonlinearities that affect the accuracy of these micropositioning systems when used in open-loop control systems, and may also even lead to system instability of closed-loop control systems. Feedback control techniques could compensate for the rate-dependent hysteresis in piezomicropositioning actuators. However, accurate sensors over a wide range of excitation frequencies and the feedback control techniques inserted in the closed-loop control systems may limit the use of the piezomicropositioning and nanopositioning systems in different micropositioning and nanopositioning applications. We show that open-loop control techniques, also called feedforward techniques, can compensate for rate-dependent hysteresis nonlinearities over different excitation frequencies. An inverse rate-dependent Prandtl–Ishlinskii model is utilized for feedforward compensation of the rate-dependent hysteresis nonlinearities in a piezomicropositioning stage. The exact inversion of the rate-dependent model holds under the condition that the distances between the thresholds do not decrease in time. The inverse of the rate-dependent model is applied as a feedforward compensator to compensate for the rate-dependent hysteresis nonlinearities of a piezomicropositioning actuator at a range of different excitation frequencies between 0.05–100 Hz. The results show that the inverse compensator suppresses the rate-dependent hysteresis nonlinearities, and the maximum positioning error in the output displacement at different excitation frequencies.
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    Multiple Working Mode Control of Door-Opening With a Mobile Modular and Reconfigurable Robot (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: This paper addresses the problems of opening a door with a modular and reconfigurable robot (MRR) mounted on a wheeled mobile robot platform. The main concern of opening a door is how to prevent the occurrence of large internal forces that arise because of the positioning errors or imprecise modeling of the robot or its environment, specifically, the door parameters. Unlike previous methods that relied on compliance control, making the control design rather complicated, this paper presents a new concept that utilizes the multiple working modes of the MRR modules. The control design is significantly simplified by switching selected joints of the MRR to work in passive mode during door-opening operation. As a result, the occurrence of large internal forces is prevented. Different control schemes are used for control of the joint modules in different working modes. For the passive joint modules, a feedforward torque control approach is used to compensate the joint friction to ensure passive motion. For the active joint modules, a distributed control method based on torque sensing is used to facilitate the control of joint modules working under this mode. To enable autonomous door-opening, an online door parameter estimation algorithm is proposed on the basis of the least squares method, and a path planning algorithm is developed on the basis of Hermite cubic spline functions, with consideration of motion constraints of the mobile MRR. Simulation and experimental results are presented to show the effectiveness of the proposed approach.
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    Nanorobotic Strategies for Handling and Characterization of Metal-Assisted Etched Silicon Nanowires (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: This paper gives insight into nanorobotic handling and electrical characterization of silicon nanowires (SiNWs) inside a scanning electron microscope. The synthesis of metal-assisted etched both end doped SiNWs is presented. Several nanorobotic pick and place strategies for handling individual nanowires are discussed. Key approaches such as force-based and adhesive bonding (focus ion and electron beam induced deposition) have been realized experimentally and evaluated toward their suitability for automation. Preliminary results on electrical characterization are presented.
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    An Inversion-Based Model Predictive Control With an Integral-of-Error State Variable for Piezoelectric Actuators (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: Piezoelectric actuators have been widely employed in various nanopositioning systems. Hysteresis exhibited by piezoelectric actuators can degrade their behavior, and thus the tracking performance of positioning systems. To improve the performance of the systems, control of hysteresis has been drawing considerable attention. One of the issues that remain to be addressed in the controller design is how to deal with the constraints (e.g., the input voltage) that might be applied to the piezoelectric actuators. To avoid overloading the piezoelectric actuators, the mechanism of saturation is typically employed in control schemes, which, however, can degrade the control performance. This paper presents the development of an inversion-based model predictive control with an integral-of-error state variable to compensate for the piezoelectric-actuator hysteresis. The proposed method allows for the consideration of constraints in the controller design. Theoretical proof of the zero steady-state error and disturbance rejection properties of the proposed method is also provided. To verify the effectiveness of the control method, experiments were conducted with the results showing that the proposed method can improve the performance of piezoelectric actuators.
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    Electrohydraulic Control Using Neural MRAC Based on a Modified State Observer (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: A new model reference adaptive control design method using neural networks that improves both transient and steady-state performance is proposed in this paper. Stable tracking of a desired trajectory can be achieved for nonlinear systems having significant uncertainties. An uncertainty-state observer structure is designed to achieve desired transient performance. The neural network adaptation rule is derived using Lyapunov theory, which guarantees stability of the error dynamics and boundedness of the neural network weights. An extra term is added in the controller expression to introduce a “soft-switching” sliding mode that can be used to reduce tracking error. The proposed design method is applied to control the velocity and position of an electrohydraulic piston comprising industrial components and having a limited bandwidth, and experimental results demonstrate its effectiveness as compared to commonly used controllers.
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    Integration of an Empirical Mode Decomposition Algorithm With Iterative Learning Control for High-Precision Machining (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: In this paper, a novel algorithm (ILC-EMD) that integrates iterative learning control (ILC) with empirical mode decomposition (EMD) is proposed to improve learning process. To explain the divergence behavior under the conventional ILC, the EMD is utilized to decompose the tracking error signal into 11 intrinsic mode functions (IMFs). By observing the root mean square and the correlation values of the IMFs during iterations, the first IMF is determined to be the undesired signal which could not be reduced by learning process. Furthermore, the command containing the first IMF could further excite the machine tool due to the resonance effects and cause the amplification of the error signal. The ILC-EMD can filter out the undesired signal and prevent the amplification effect. Experimental results on tracking the butterfly and dragon nonuniform rational B-spline curves validate the effectiveness of the ILC-EMD algorithm.
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    Nonlinear Modeling and Decoupling Control of XY Micropositioning Stages With Piezoelectric Actuators (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: In this paper, a modeling method of XY micropositioning stage with piezoelectric actuators is proposed. In the modeling scheme, a sandwich model consists of both input and output linear submodels, and an embedded neural-network-based hysteresis submodel is used to describe the motion behavior of each axis of the stage. Moreover, a neural-network-based submodel is constructed to describe the nonlinear interactive dynamics caused by the movement of another axis. Then, a tracking control scheme combined with a nonlinear decoupling control is proposed to compensate for the effect of the interactions between axes and track the reference trajectory. Then, the robust design method for the tracking and decoupling control is discussed. Finally, the experimental results on an XY micropositioning stage are presented.
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    A Comparison of the Performance Improvement by Collocated and Noncollocated Active Damping in Motion Systems (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: In this paper, both collocated and noncollocated active vibration control (AVC) of the vibrations in a motion system are considered. Pole-zero plots of both the AVC loop and the motion-control (MC) loop are used to analyze the effect of the applied active damping on the system dynamics. Using these plots and the simulated end-effector position of the actively damped plant, a comparison is made between the collocated AVC, using integral force feedback (IFF), and noncollocated AVC, by means of acceleration feedback. It is demonstrated that collocated AVC improves the performance of the plant by adding damping to both the resonance and antiresonance mode of the plant and making it possible to increase the MC bandwidth. The applied noncollocated AVC improves the performance by adding damping to the resonance mode. However, as opposed to the collocated AVC, for the applied noncollocated AVC, there is a tradeoff between various performance criteria, such as rise time and settling time, that is determined by the balance between the added damping and the increase of the bandwidth. This is true for all the AVC methods that do not increase the damping of the antiresonance mode.
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    Improved Evaluation of Dynamic Mechanical Properties of Soft Materials With Applications to Minimally Invasive Surgery (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: Minimally invasive surgery minimizes trauma to the patient, however, the loss of tactile feedback impedes the surgeon’s ability to locate tumors among healthy tissue. In this paper, a resonance-based instrument to measure the stiffness, damping, and effective mass of a soft material such as biological tissue is presented. It was designed to be small yet has two natural frequencies below 100 Hz so that the effective mass of the tissue would not impact the determination of the stiffness. A state-space model was used to develop a fast and accurate method of extracting the tissue parameters by measuring the natural frequencies and the bandwidth at the first natural frequency. A fast and robust phased-locked-loop-based feedback system is described, which was used to measure the required frequencies. Simulations showed that the system was robust, while subjected to disturbances including hand tremor, tissue parameter variation, and preload. A prototype system showed that the instrument could accurately predict the stiffness, damping, and mass with an average error of 6%, 6%, and 7%, respectively. Experiments on a simulated tissue phantom showed the ability of the instrument to detect a tumour while it was stationary and in motion.
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    Force and Torque Analytical Models of a Reaction Sphere Actuator Based on Spherical Harmonic Rotation and Decomposition (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: This paper presents an analytical model for the force and torque developed by a reaction sphere actuator for satellite attitude control. The reaction sphere is an innovative momentum exchange device consisting of a magnetic bearings spherical rotor that can be electronically accelerated in any direction making all the three axes of stabilized spacecrafts controllable by a unique device. The spherical actuator is composed of an 8-pole permanent magnet spherical rotor and of a 20-coil stator. Force and torque analytical models are derived by solving the Laplace equation and applying the Lorentz force law. The novelty consists in exploiting powerful properties of spherical harmonic functions under rotation to derive closed-form linear expressions of forces and torques for all possible orientations of the rotor. Specifically, the orientation of the rotor is parametrized using seven decomposition coefficients that can be determined noniteratively and in a linear fashion by measuring the radial component of the magnetic flux density from at least seven different locations. Therefore, force and torque models for all possible orientations of the rotor are expressed in closed form as linear combination of mutually orthogonal force and torque characteristic matrices, which are computed offline. The proposed analytical models are experimentally validated using a developed laboratory prototype.
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    A Novel Direct Inverse Modeling Approach for Hysteresis Compensation of Piezoelectric Actuator in Feedforward Applications (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: The Prandtl–Ishlinskii (PI) model is widely utilized in hysteresis modeling and compensation of piezoelectric actuators. For systems with rate-independent hysteresis, the inverse PI model is analytically feasible and it can be adopted as a feedforward compensator for the hysteretic nonlinearity of piezoelectric actuators. However, for the rate-dependent PI model, the applicable valid inversion methodology is not yet available. Although simply replacing all the rate-independent terms in the conventional inversion law with the rate-dependent terms can achieve acceptable results at very slow trajectories. However, a large theoretical modeling error is inevitable at fast trajectories, which is investigated through simulations. This paper proposes a new direct approach to derive the inverse PI model directly from experimental data. As no inversion calculation is involved, the proposed direct approach is efficient and the theoretical modeling error can be avoided. In order to validate the accuracy of the direct approach, a number of experiments have been implemented on a piezo-driven compliant mechanism by utilizing the inverse PI model as a feedforward controller. The tracking performance of the mechanism is significantly improved by the direct approach.
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    Design, Modeling, and FPAA-Based Control of a High-Speed Atomic Force Microscope Nanopositioner (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: An XYZ nanopositioner is designed for fast the atomic force microscopy. The first resonant modes of the device are measured at 8.8, 8.9, and 48.4 kHz along the X-, Y-, and Z-axes, respectively, which are in close agreement to the finite-element simulations. The measured travel ranges of the lateral and vertical axes are 6.5 $mu$ m $times$ 6.6 $mu$ m and 4.2 $mu$ m, respectively. Actuating the nanopositioner at frequencies beyond 1% of the first resonance of the lateral axes causes mechanical vibrations that result in degradation of the images generated. In order to improve the lateral scanning bandwidth, controllers are designed using the integral resonant control methodology to damp the resonant modes of the nanopositioner and to enable fast actuation. Due to the large bandwidth of the designed nanopositioner, a field programmable analog array is used for analog implementation of the controllers. High-resolution images are successfully generated at 200-Hz line rate with 200 $times$ 200 pixel resolution in closed loop.
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    Design and Control of a Compact Lightweight Planar Positioner Moving Over a Concentrated-Field Magnet Matrix (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: In this paper, a single-moving-part planar positioner with six coils is designed and implemented. A concentrated-field permanent-magnet matrix is employed as the stationary part. The moving platen has a compact size (185.4 mm × 157.9 mm), light mass (0.64 kg) and low-center-of-gravity. The moving platen carries three planar-motor armatures with two phases per motor. Force calculation is based on the Lorentz force law and conducted by volume integration. In order to deal with the nonlinearity due to trigonometric dependencies in the force-current relation, modified proportional-integral-derivative (PID) and lead-and-PI compensators are designed with computed currents to close the control loop and obtain the desired performances. Experimental results verified the commutation law and the force calculation. The new design with only six coils allows for simplification of the control algorithm and reduced power consumption of the positioner. The maximum travel ranges in x, y, and the rotation about the vertical axis are 15.24 cm, 20.32 cm, and 12.03°, respectively. The positioning resolution in x and y is 8 μm with the rms position noise of 6 μm. The positioning resolution in rotations about the vertical axis is 100 μrad.
    Print ISSN: 1083-4435
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 87
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    A Novel Piezoelectric Strain Sensor for Simultaneous Damping and Tracking Control of a High-Speed Nanopositioner (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: This paper presents a novel piezoelectric strain sensor for damping and accurate tracking control of a high-speed nanopositioning stage. Piezoelectric sensors have the benefit of simple interface circuitry, low cost, high sensitivity, and high bandwidth. Although piezoelectric sensors have been successfully used as vibration sensors in smart structures, complications arise when they are used in a feedback loop for tracking. As piezoelectric strain sensors exhibit a capacitive source impedance, a high-pass filter is created, typically with a cut-off frequency of 1 to 10 Hz. This filter can cause significant errors and destabilize a tracking control system. Here, we overcome this problem by using a low-frequency bypass technique to replace the low-frequency component of the strain measurement with an estimate based on the open-loop system. Once the low-frequency filter is accounted for, any standard control system can be applied. In this paper, an analog integral resonant controller together with an integral tracking controller are implemented on a flexure-guided nanopositioner. The resulting closed-loop bandwidth is experimentally demonstrated to be 1.86 kHz. The nanopositioner is installed in an Atomic Force Microscope to obtain open- and closed-loop images at line rates of 40 and 78 Hz. Images recorded in closed loop show a significant improvement due to the elimination of nonlinearity.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 88
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    A Pan–Tilt Orienting Mechanism With Parallel Axes of Flexural Actuation (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: This paper presents the design and prototype of a camera-orienting mechanism. Bioinspired actuators and mechanisms have been developed to pan and tilt a camera with comparable characteristics as a human eye. To meet the stringent space/weight requirement of robotic applications, a compact-orienting mechanism is proposed. We specifically aim at matching the size of a human eye. Through the arrangement of two parallel placed actuators and flexible mechanisms, nearly uncoupled pan and tilt motions can be provided in a streamlined space. The flexible mechanisms utilize the deflection of beams to replace the kinematic joints; thus, they have fewer parts and can be easily adapted to a small and irregular design space. The optimal mechanism configuration has linear input–output relation that makes driving electronics very direct. Through verification and prototype illustration, the novel orienting mechanism is expected to serve as an alternative for robotic vision applications.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 89
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    Visual Grasp Planning for Unknown Objects Using a Multifingered Robotic Hand (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: A method for fast visual grasping of unknown objects with a multifingered robotic hand is presented in this paper. The algorithm is composed of an object surface reconstruction algorithm and a local grasp planner, evolving in parallel. The reconstruction algorithm makes use of images taken by a camera carried by the robot arm. A virtual elastic reconstruction surface is placed around the object. The surface shrinks toward the object until some points intercept the object visual hull. Then, attractive forces with respect to the border of the visual hull are generated so as to compensate for the elastic forces: when an equilibrium between those forces is reached, the surface takes the form of the object shape. Running in parallel to the reconstruction algorithm, the grasp planner moves the fingertips on the current available reconstruction surface, toward points which are optimal (in a local sense) with respect to a number of indices weighting both the grasp quality and the kinematics configuration of the hand. This method, referred to as parallel visual grasp, may represent a valid candidate for applications where online grasp planning is required. A number of experiments are presented, showing the effectiveness of the proposed approach.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 90
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    Accurate Motion Control of Linear Motors With Adaptive Robust Compensation of Nonlinear Electromagnetic Field Effect (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: Many control methodologies have been applied to the motion control of linear motor drive systems. Compensations of nonlinearities such as frictions and cogging forces have also been carried out to obtain better tracking performance. However, the relationship between the driving current and the resulting motor force has been assumed to be linear, which is invalid for high driving coil currents due to the saturating electromagnetic field effect. This paper focuses on the effective compensation of nonlinear electromagnetic field effect so that the system can be operated at even higher acceleration or heavier load without losing achievable control performance. Specifically, cubic polynomials with unknown weights are used for an effective approximation of the unknown nonlinearity between the electromagnetic force and the driving current. The effectiveness of such an approximation is verified by offline identification experiments. An adaptive robust control (ARC) algorithm with online tuning of the unknown weights and other system parameters is then developed to account for various uncertainties. Theoretically, the proposed ARC algorithm achieves a guaranteed transient and steady-state performance for position tracking, as well as zero steady-state tracking error when subjected to parametric uncertainties only. Comparative experiments of ARC with and without compensation of electromagnetic nonlinearity done on both axes of a linear-motor-driven industrial gantry are shown. The results show that the proposed ARC algorithm achieves better tracking performance than existing ones, validating the effectiveness of the proposed approach in practical applications.
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  • 91
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    Antagonistic Stiffness Optimization of Redundantly Actuated Parallel Manipulators in a Predefined Workspace (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: An optimization procedure regarding shape of usable workspace and antagonistic stiffness is developed for a redundantly actuated parallel manipulator. The kinematic parameters such as configuration of the mechanism and length of linkages are optimized to maximize and equal out antagonistic stiffness of the redundantly actuated manipulator when the shape of usable workspace is given as a rectangle. The proposed procedure is verified by simulation and experiment with a 2-DOF planar manipulator. In the experiment, the principal axes of displacements of ellipses are measured when the corresponding external forces are imposed on the end-effector. The simulation and experimental results show that the proposed procedure is valid for designing the redundantly actuated parallel manipulator with maximum antagonistic stiffness.
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  • 92
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    A Combined Force and Thermal Feedback Interface for Minimally Invasive Procedures Simulation (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: We present a new interface for minimally invasive surgery (MIS) training that incorporates novel broadband sensory modalities that include visual, force, and thermal technology, into the evolution of the next generation of surgical robotics and simulators. A new haptic device is designed to provide high force and torque capabilities for a better touch feedback. Part of the surgical tool is kept to be the real grasper (i.e., the handle) of the haptic interface. Yet, our main novel contribution is in integrating thermal feedback in MIS applied perspectives; indeed, thermal sensing finds particular utility in detecting and isolating unstable arterial plaque and tumors. In addition, thermal energy is used in several therapeutic procedures such as tumor ablation or tissue welding. We propose several thermal exchange models based on the Pennes’ bioheat transfer equation. The overall haptic interface (force and thermal display) is interfaced with an open source virtual reality simulator (the SOFA framework). We added in SOFA the necessary models dealing with thermal simulation using built-in data structure and methods. The integration is successful, and realistic simulation scenarios combining visual, thermal, and force feedback were achieved. Results using the overall simulation are presented and evaluated.
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  • 93
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    Stair Ascent With a Powered Transfemoral Prosthesis Under Direct Myoelectric Control (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: This paper presents experimental results of a myoelectric controller designed for reciprocal stair ascent using a transfemoral prosthesis with an actively powered knee joint. The control architecture is derived from able-bodied gait data and estimates knee torque with a linear two-state (stance/swing) impedance control form that includes proportional myoelectric torque control combined with a state-determined knee impedance. The experimentally implemented control interface affords the amputee subject with direct control of knee torque using surface electromyogram (EMG) measurements of muscles in the residual thigh supplemented with a nominal knee impedance whose set-point switches based on the detection of ground contact at the foot. Preliminary clinical evaluations of the EMG-based control system with a single subject with unilateral transfemoral amputation show robust and repeatable performance for alternating stair ascent. The amputee subject effectively modulates power output at the knee using EMG commands during stance, while leveraging the knee's nominal swing-phase impedance and only modest EMG influence to achieve the desired knee trajectories during swing.
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  • 94
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    Design and Simulation of a Novel Biomechanic Piezoresistive Sensor With Silicon Nanowires (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: This paper presents the design of a novel single square millimeter three-axial accelerometer for head injury detection of racing car drivers. The main requirements of this application are miniaturization and medium/high-G measurement range. We propose a new miniature accelerometer to be incorporated into an earpiece. Nanowires as nanoscale piezoresistive devices have been chosen as sensing element, due to their high sensitivity and miniaturization achievable. By exploiting the electromechanical features of nanowires as nanoscale piezoresistors, the nominal sensor sensitivity is overall boosted by more than 30 times. This approach allows significant higher accuracy and resolution with smaller sensing element in comparison with conventional devices without the need of signal amplification. This achievement opens up new developments in the area of implanted devices where the high-level of miniaturization and sensitivity is essential.
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  • 95
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    Estimation of Unbalanced Loads in Washing Machines Using Fuzzy Neural Networks (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: The performance of the washing machines is limited by the grouping of the clothes in spinning cycle, generally called as the unbalanced load (UL). The UL may cause vibrations, noise, and possible damage to the machine; therefore, accurate estimation of ULs, including their magnitudes and locations in washing drum, is required. In this paper, we propose an approach to evaluate the position and mass of the UL in a horizontal loading washing machine. The approach uses fuzzy logic and artificial neural networks to obtain fast and accurate estimate of the UL. An experimental system has been developed and the algorithms are implemented on a real-time system to show the effectiveness of the approach. Successful experiments involving a distribution algorithm suggests that UL estimation and elimination in real time is possible.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 96
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    3-D Locomotive and Drilling Microrobot Using Novel Stationary EMA System (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: For 3-D locomotion and drilling of a microrobot, we proposed an electromagnetic actuation (EMA) system consisting of three pairs of stationary Helmholtz coils, a pair of stationary Maxwell coils, and a pair of rotating Maxwell coils in the previous research . However, this system could have limited medical applications because of the pair of rotational Maxwell coils. In this paper, we propose a new EMA system with three pairs of stationary Helmholtz coils, a pair of stationary Maxwell coils, and a new locomotive mechanism for the same 3-D locomotion and drilling of the microrobot as achieved by the previously proposed EMA system. For the performance evaluation of the proposed EMA system, we perform a 3-D locomotion and drilling test in a blood vessel phantom. In addition, the two EMA systems are compared to show that the newly proposed EMA system has 440% wider working space and 49% less power consumption than the previous EMA system.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 97
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    Magnetically Activated Stereoscopic Vision System for Laparoendoscopic Single-Site Surgery (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
    Description: In this paper, the authors present an innovative vision platform for laparoendoscopic single-site (LESS) surgery based on a wired and magnetically activated 5-degrees-of-freedom robot with stereovision. The stereoscopic vision module, developed using two off-the-shelf cameras and a light emitting diodes lighting system, is mounted on the robot tip. An autostereoscopic screen is adopted to display the surgical scenario as an alternative to 3-D helmets or polarizing glasses. A rough position of the stereocamera can be determined along the abdominal wall by dragging the robot with a set of external permanent magnets (EPMs). Once the camera is set in the desired position, the EPMs provide fixation, while the internal mechanism allows fine tilt adjustment. Considering the deformable round shape of the insufflated abdomen wall and in order to replicate the precise roll motion usually provided by the endoscopist's hands, this prototype embeds an actuated mechanism that adjusts the stereocamera horizon and thus prevents any visual discomfort. Finally, the platform was preliminarily tested in vivo in a LESS scenario, demonstrating its advantages for eliminating potential conflicts with the operative tools and enabling the introduction of an additional instrument through the same access port used for stereoscopic vision.
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  • 98
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    IEEE/ASME Transactions on Mechatronics information for authors (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 99
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    IEEE/ASME Transactions on Mechatronics publication information (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2013-01-31
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 100
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    Wireless and Pyroelectric Sensory Fusion System for Indoor Human/Robot Localization and Monitoring (2013)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2013-01-31
    Description: An indoor localization and monitoring system for robots and people is an important issue in robotics research. Although several monitoring systems are currently under development by previous investigators, these issues remain significant difficulties. For instance, the pyroelectric IR (PIR) system provides less accurate information of human location and is restricted when there are multiple targets. Furthermore, the RF localization system is constrained by its limited accuracy. In this study, we propose an indoor localization and monitoring system based on a wireless and PIR (WPIR) sensory fusion system. We develop a sensor-network-based localization method called the WPIR inference algorithm. This algorithm determines the fused position from both the PIR localization system and RF signal localization system, which utilize the received signal strength propagation model. We have developed and experimentally demonstrated a WPIR sensory fusion system, which can be successfully applied in localizing multiple targets based on two robots and two people in this study. With an accurate localization mechanism for the indoor environment, the provision of appropriate services for people can be realized.
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