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  • Articles  (652)
  • 2010-2014  (652)
  • 1990-1994
  • 1985-1989
  • 1950-1954
  • IEEE/ASME Transactions on Mechatronics  (652)
  • 1417
  • Electrical Engineering, Measurement and Control Technology  (652)
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  • Articles  (652)
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  • 2010-2014  (652)
  • 1990-1994
  • 1985-1989
  • 1950-1954
  • 2015-2019  (943)
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  • 1
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    Effective Phase Tracking for Bioinspired Undulations of Robotic Fish Models: A Learning Control Approach (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: Robotic models have been used as one of the approaches to study fish locomotion. Therefore, this paper proposes an effective control scheme that enables robotic models to mimic fin-ray undulation kinematics of live fish. We found in the experiments of robotic fin undulation that the difference between the desired and actual trajectories can be significant. It is believed that the difference might be caused by the phase lagging effect. To tackle the phase tracking problem, a modified iterative learning control (ILC) scheme is proposed and implemented on the robotic fish model. Furthermore, a memory clearing operator is proposed to satisfy the Lipschitz condition. This is necessary for the convergence and feasibility of the ILC scheme. Finally, experimental results illustrate the effectiveness of the proposed learning control approach, including the memory clearing operator.
    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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    Runout Tracking in Electric Motors Using Self-Mixing Interferometry (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: In this paper, a self-mixing interferometry sensor has been used as a proximity probe to measure possible runout in permanent magnet synchronous motors, for fault diagnosis. A general procedure for the measurement of the 2-D trajectory of the motor shaft is described in detail, including procedures for the characterization of the uncertainty due to the shape of the shaft, and the management of speckle noise. The performance of the proposed sensor has been compared to that of a commercial Polytec laser vibrometer, for validation purposes. Results show inaccuracies in the order of ±6 μm, which agree well with the measured uncertainty introduced by shaft surface imperfections.
    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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  • 3
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    Integrated PID-Based Sliding Mode State Estimation and Control for Piezoelectric Actuators (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: Tracking control of piezoelectric actuators (PEAs) has stimulated the development of various advanced control schemes that utilize the feedback of PEA system states for improved control performance. Among them, the one based on the concept of sliding mode has been shown promising due to its robustness to matched uncertainties, but leaving the required state estimation to be desired. Previous studies show that the PEA can be modeled as a linear dynamic system with matched uncertainties. On this basis, this paper presents the development of a novel observer based on the concept of proportional-integral-derivative-based (PID-based) sliding mode, in which the switching function is replaced by a PID regulator. The novel observer, referred to as the PID-based sliding mode observer (PIDSMO), relaxes the observer matching condition as required in the use of the unknown-input observers. The PIDSMO is then integrated with the PID-based sliding mode controller (PIDSMC) to form a novel integrated PID-based sliding mode observer-controller (PIDSMOC) for PEA tracking control. Experiments performed on a PEA showed that the PIDSMO can accurately estimate the PEA states and that the integrated PIDSMOC can achieve better tracking control performances as compared to the PIDSMC with α–β filter control scheme.
    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
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 4
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    Implementation and Performance Analysis of Digital Controllers for Brushless DC Motor Drives (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper presents design and digital implementation of a fuzzy controller for achieving improved performance of Brushless dc (BLDC) servomotor drive. The performance of fuzzy and PID controller-based BLDC servomotor drives is investigated under different operating conditions such as change in reference speed, parameter variations, load disturbance, etc. BLDC servomotors are used in aerospace, instrumentation systems, space vehicles, electric vehicles, robotics, and industrial control applications. In such applications, conventional controllers like P, PI, and PID are being used with the BLDC servomotor drive control systems to achieve satisfactory transient and steady-state responses. However, the major problem associated with the conventional PID controller is that the tuned gain parameters obtained for such BLDC servomotor drive control systems do not yield better transient and steady-state responses under different operating conditions such as parameter variations, load disturbances, etc. In this paper, design and implementation of fuzzy controller is presented and its performance is compared with PID controller to show its capability to track the error and usefulness of fuzzy controller in control applications.
    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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  • 5
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    System Design and Implementation of UCF-MANUS—An Intelligent Assistive Robotic Manipulator (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: This paper reports on the system design for integrating the various processes needed for end-to-end implementation of a smart assistive robotic manipulator. Specifically, progress is reported in the empowerment of the UCF-MANUS system with a suite of sensory, computational, and multimodal interface capabilities so that its autonomy can be made accessible to users with a wide range of disabilities. Laboratory experiments are reported to demonstrate the ability of the system prototype to successfully and efficiently complete object retrieval tasks. Benchmarking of the impact of the various interface modalities on user performance is performed via empirical studies with healthy subjects operating the robot in a simulated instrumental activities of daily living tasks setup. It is seen through a analysis of the collected quantitative data that the prototype is interface neutral and shows robustness to variations in the tasks and the environment. It is also seen that the prototype autonomous system is quantitatively superior to Cartesian control for all tested tasks under a “number of commands” metric, however, under a “time to task completion” metric, the system is seen to be superior for “hard” tasks but not for “easy” tasks.
    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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  • 6
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    Robust Visual Tracking of Robotic Forceps Under a Microscope Using Kinematic Data Fusion (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: Forceps tracking is an important element of high-level surgical assistance such as visual servoing and motion analysis. This paper describes a robust, efficient tracking algorithm capable of estimating the forceps tip position in an image space by fusing visual tracking data with kinematic information. In visual tracking, the full-state parameters of forceps are estimated using the projective contour models of a 3-D CAD model of the forceps. The likelihood of the contour model is measured using the distance transformation to enable fast calculation, and the particle filter estimates the full state of the forceps. For more robust tracking, the result data obtained from visual tracking are combined with kinematic data that are obtained by forward kinematics and hand–eye transformation. The fusion of visual and kinematic tracking data is performed using an adaptive Kalman filter, and the fused tracking enables the reinitialization of visual tracking parameters when a failure occurs. Experimental results indicate that the proposed method is accurate and robust to image noise, and forceps tracking was successfully carried out even when the forceps was out of view.
    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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  • 7
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    Compensating for ZOH-Induced Residual Vibrations in Head-Positioning Control of Hard Disk Drives (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2014-01-22
    Description: In a hard disk drive, residual vibrations induced by a zero-order-hold may lead to destruction of user data. Therefore, we developed a control method that can reduce such residual vibrations in the head-positioning control system of a hard disk drive. This study is based on a shock response spectrum (SRS) analysis that handles the transient-state characteristics of mechanical resonances. The control method uses multirate notch filters that modify the acceleration input signals beyond the Nyquist frequency. The results of the SRS analyses showed that the multirate notch filter was able to decrease the amplitude of residual vibrations caused by the mechanical resonances around the sampling frequency. Simulation and experimental results for a track-seeking control in a hard disk drive demonstrated the validity of the proposed method.
    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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  • 8
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    Wet Adhesion Inspired Bionic Climbing Robot (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: Arthropods like stick insects have remarkable locomotion performance to climb vertical surfaces with their wet adhesion pads. This paper focuses on the development of a novel wet adhesion pad for wall-climbing robots that can scale walls. According to the morphology of insects’ pads, mechanism of wet adhesive is analyzed. A novel wet adhesive pad with microstructure based on combining electroforming process with soft lithography is explored. Characteristic test results show that microstructures on the surface of pads fabricated by the proposed technique can improve the wet adhesive ability effectively. The design, manufacture, and test of a hexapod climbing robot prototype are also discussed. Experimental results show that the climbing ability of the robot with the pads is exceptional; the robot can climb up to more than 80 $^{circ}$ sloped surface and stick to the vertical surface statically.
    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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  • 9
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    An Energy-Efficient Hopping Robot Based on Free Vibration of a Curved Beam (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper explores a design strategy of hopping robots, which makes use of free vibration of an elastic curved beam. In this strategy, the leg structure consists of a specifically shaped elastic curved beam and a small rotating mass that induces free vibration of the entire robot body. Although we expect to improve energy efficiency of locomotion by exploiting the mechanical dynamics, it is not trivial to take advantage of the coupled dynamics between actuation and mechanical structures for the purpose of locomotion. From this perspective, this paper explains the basic design principles through modeling, simulation, and experiments of a minimalistic hopping robot platform. More specifically, we show how to design elastic curved beams for stable hopping locomotion and the control method by using unconventional actuation. In addition, we also analyze the proposed design strategy in terms of energy efficiency and discuss how it can be applied to the other forms of legged robot locomotion.
    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
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 10
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    Controlling the Trajectory of a Flexible Ultrathin Endoscope for Fully Automated Bladder Surveillance (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: During cystoscopy, the urologist manually steers a cyst scope inside a patient's bladder to visually inspect the inner surface. Cystoscopies are performed as part of surveillance for bladder cancer, making it the most expensive cancer to treat over a patient's lifetime. An automated bladder scanning system has been devised to reduce workload and cost by relieving the urologist from performing surveillance. Presented here is a proof-of-concept apparatus that controls the motion of a miniature flexible endoscope. Image-based feedback is used to adjust the endoscope's movement so that captured images overlap with one another, ensuring that the entire inner surface of the bladder is imaged. Within a bladder phantom, the apparatus adaptively created and followed a spherical scan pattern comprised of 13 individual latitudes and 508 captured images, while accepting between 60% and 90% image overlap between adjacent images. The elapsed time and number of captured images were sensitive to the apparatus's placement within the phantom and the acceptable image overlap percentage range. A mosaic of captured images was generated to validate comprehensive surveillance. Overall, a robotically controlled endoscope used in conjunction with image-based feedback may permit fully automated and comprehensive bladder surveillance to be conducted without direct clinician oversight.
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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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  • 11
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    Pseudo-Sensorless High-Performance Bilateral Teleoperation by Sliding-Mode Control and FPGA (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper proposes a pseudo-sensorless implementation of scaled bilateral teleoperation. It is based on Hall effect sensors that are built within the motor housing. The proposed implementation requires no external sensor that can deteriorate system dynamics and performance. The integrated sensors have been used both for position measurement and external force estimation that are necessary in high-performance bilateral teleoperation. Nevertheless, system perturbation dynamics may always appear in a practical mechatronic system. Therefore, the chattering-free sliding-mode control algorithm is applied that ensures robustness toward the disturbances, and yet is easy to implement. The data acquisition algorithms as well as the control algorithm are implemented by field-programmable gate array (FPGA) in order to provide high control rate that can further increase robustness required for haptic fidelity of the system for scaled teleoperation. The applied algorithms along with the FGPA implementation were validated by the 2-DoF experimental system. It has been shown that the proposed pseudo-sensorless implementation by FPGA provides high bilateral teleoperation performance.
    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
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 12
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    A Long-Stroke Nanopositioning Control System of the Coplanar Stage (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: With the continuing trend toward device miniaturization in many engineering and scientific fields, the need to accomplish highly precise measurements at the micro- or nanoscale has emerged as a critical concern. This paper presents a high-precision motion control system for the nanopositioning of a coplanar $Xhbox{--}Y$ stage driven by two commercial ultrasonic motors. The motor drive provides three main driving modes, namely ac, Gate, and dc, for millimeter, micrometer, and nanometer displacements, respectively. The displacement of each axis stage is sensed using a linear diffraction grating interferometer (LDGI) with a nanometer resolution. To compensate for the effects of the variable friction force during stage motion, the gains of the proportional–integral–derivative controller used to regulate the stage motion are tuned adaptively by a back propagation neural network (BPNN) based on the feedback signals provided by the LDGI. Furthermore, to obtain a high-accuracy positional motion, the error compensation strategy is implemented to eliminate the systematic errors of the stage with error budget. The error budget is obtained by positioning error calibration using a laser interferometer, which optical axis is detected by a quadrant photodetector (QPD) to ensure no cosine error. The positioning accuracy of the proposed system is evaluated by performing a series of contouring experiments. The results demonstrate that the system achieves a nanometer level of accuracy and resolution and is, therefore, a suitable solution for micro-coordinate measuring machine, microlithography, and micromachining applications.
    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
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 13
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    A Pneumatically Actuated Quadrupedal Walking Robot (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper describes the mechanical design and control of a pneumatic quadrupedal robot. Additionally, the authors propose a method of joint control that combines stance/swing gain scheduling with open-loop damping, the combination of which provides stable joint level control, without the oscillatory behavior associated with pneumatically actuated walking robots. A set of joint trajectories are described to provide stable walking. The joint trajectories and joint-level controllers are implemented on the pneumatic quadruped and experimentally shown to provide stable walking without significant (unwanted) oscillations of the body or legs. Further, the robot's normalized speed and payload capacity are experimentally characterized. The robot's performance in these metrics is shown to be highly competitive within the published literature.
    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
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 14
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    IEEE/ASME Transactions on Mechatronics information for authors (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    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
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 15
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    High-Sampling Rate Dynamic Inversion—Filter Realization and Applications in Digital Control (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper presents a stable inversion of nonminimum phase systems with highly efficient computation for high-sampling rate applications. The stable filter that inverts the dynamics of a nonminimum system is based on cascading a stable pole-zero cancellation infinite impulse response (IIR) filter with a high-order finite impulse response (FIR) filter which inverts the unstable zero dynamics. The high-order FIR filter is realized based on efficient IIR filter implementation first introduced by Powell and Chau then later modified by Kurosu. As a demonstrative example, the inversion filters are applied to feedforward tracking and repetitive control algorithms and realized by a field programmable gate array. The controllers are implemented at 100-kHz sampling rate to control the motion of a 4 degrees-of-freedom magnetically levitated shaft in experiment.
    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
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 16
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    A New Actuator With Adjustable Stiffness Based on a Variable Ratio Lever Mechanism (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper presents the actuator with adjustable stiffness (AwAS-II), an enhanced version of the original realization AwAS. This new variable stiffness actuator significantly differs from its predecessor on the mechanism used for the stiffness regulation. While AwAS tunes the stiffness by regulating the position of the compliant elements along the lever arm, AwAS-II changes the position of the lever's pivot point. As a result of the new principle, AwAS-II can change the stiffness in a much broader range (from zero to infinity) even by using softer springs and shorter lever arm, compared to AwAS. This makes the setup of AwAS-II more compact and lighter and improves the stiffness regulation response. To evaluate the aptitude of the fast stiffness adjustment, experiments on reproducing the stiffness profile of the human ankle during the stance phase of a normal walking gait are conducted. Results indicate that AwAS-II is capable of reproducing an interpolated stiffness profile of the ankle while providing a net positive work and thus a sufficient amount of energy as required for the toe-off.
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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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  • 17
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    Design, Development, and Evaluation of a Pinch–Grasp Haptic Interface (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: Interaction with virtual or teleoperated environments requires contact with objects on a multipoint level. We describe the design of a pinch–grasp hand interface device for use as a grasping mechanism to complement haptic interfaces. To preserve a suitable level of transparency for human–computer interaction, this novel interface is designed for high-resolution contact forces, while centered around a lightweight structure. This functionality renders the device scalable and adaptable to a wide range of haptic interface structures and force level requirements. We present an optimal configuration for a pinch–grasp interface, which produces bidirectional forces to an operator’s fingers and a rotational force to the wrist through a cable drive system. The device is characterized for use on a commercial haptic interface through demonstration of sustained peak performance and also workspace utilization. The dynamic performance of the pinch–grasp interface is experimentally determined, and the frequency response is identified to illustrate its contact force resolution.
    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
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 18
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    Can DC Motors Directly Drive Flapping Wings at High Frequency and Large Wing Strokes? (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper proposes and experimentally validates a method for driving flapping wings at large wing strokes and high frequencies with a DC motor, based on direct, elastic transmission. The DC motor undergoes reciprocating, rather than rotary, motion avoiding the use of nonlinear transmissions such as slider-crank mechanisms. This is key to compact, easy to fabricate, power efficient, and controllable flapping mechanisms. First, an appropriate motor based on maximum power transfer arguments is selected. Then, a flapping mechanism is prototyped and its experimental performance is compared with simulations, which take into account the full dynamics of the system. Despite inherent nonlinearities due to the aerodynamic damping, the linearity of the direct, elastic transmission allows one to fully exploit resonance. This benefit is best captured by the dynamic efficiency, close to 90% at larger wing strokes in both experimental data and simulations. We finally show a compact flapping mechanism implementation with independent flapping motion control for the two wings, which could be used for future autonomous micro-aerial vehicles.
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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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  • 19
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    Design and Development of the Cable Actuated Finger Exoskeleton for Hand Rehabilitation Following Stroke (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: Finger impairment following stroke results in significant deficits in hand manipulation and the performance of everyday tasks. While recent advances in rehabilitation robotics have shown promise for facilitating functional improvement, it remains unclear how best to employ these devices to maximize benefits. Current devices for the hand, however, lack the capacity to fully explore the space of possible training paradigms. Particularly, they cannot provide the independent joint control and levels of velocity and torque required. To fill this need, we have developed a prototype for one digit, the cable actuated finger exoskeleton (CAFE), a three-degree-of-freedom robotic exoskeleton for the index finger. This paper presents the design and development of the CAFE, with performance testing results.
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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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    Complementary Observer for Body Segments Motion Capturing by Inertial and Magnetic Sensors (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper presents a viable quaternion-based complementary observer (CO) that is designed for rigid body attitude estimation. We claim that this approach is an alternative one to overcome the limitations of the extended Kalman filter. The CO processes data from a small inertial/magnetic sensor module containing triaxial angular rate sensors, accelerometers, and magnetometers, without resorting to GPS data. The proposed algorithm incorporates a motion kinematic model and adopts a two-layer filter architecture. In the latter, the Levenberg Marquardt algorithm preprocesses acceleration and local magnetic field measurements, to produce what will be called the system's output. The system's output together with the angular rate measurements will become measurement signals for the CO. In this way, the overall CO design is greatly simplified. The efficiency of the CO is experimentally investigated through an industrial robot and a commercial IMU during human segment motion exercises. These results are promising for human motion applications, in particular future ambulatory monitoring.
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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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  • 21
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    An Adaptive Wearable Parallel Robot for the Treatment of Ankle Injuries (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper presents the development of a novel adaptive wearable ankle robot for the treatments of ankle sprain through physical rehabilitation. The ankle robot has a bioinspired design, devised after a careful study of the improvement opportunities in the existing ankle robots. Robot design is adaptable to subjects of varying physiological abilities and age groups. Ankle robot employs lightweight but powerful pneumatic muscle actuators (PMA) which mimics skeletal muscles in actuation. To address nonlinear characteristics of PMA, a fuzzy-based disturbance observer (FBDO) has been developed. Another instance of an adaptive fuzzy logic controller based on Mamdani inference has been developed and appended with the FBDO to compensate for the transient nature of the PMA. With the proposed control scheme, it is possible to simultaneously control four parallel actuators of the ankle robot and achieve three rotational degrees of freedom. To evaluate the robot design, the disturbance observer, and the adaptive fuzzy logic controller, experiments were performed. The ankle robot was used by a neurologically intact subject. The robot–human interaction was kept as active–passive while the robot was operated on predefined trajectories commonly adopted by the therapists. Trajectory tracking results are reported in the presence of an unpredicted human user intervention, use of compliant and nonlinear actuators, and parallel kinematic structure of the ankle robot.
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    Integrating the Microsoft Kinect With Simulink: Real-Time Object Tracking Example (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: The introduction of low-cost, relatively high-resolution 3-D sensing systems, like the Microsoft Kinect, has considerable potential in autonomous system applications. One of the impediments to wider Kinect application development is that the available Kinect drivers define C language interfaces. To help fully realize the Kinect’s potential, the aims of this paper are 1) to develop a “VU-Kinect ” block which provides easy access to the sensor’s camera and depth image streams, and which enables them to be incorporated seamlessly within a higher level, Simulink-based, image-processing and real-time control strategy; 2) to address implementation issues associated with the Kinect, such as sensor calibration; and 3) to show the utility of both the VU-Kinect block and the Kinect itself through a simple 3-D object tracking example.
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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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    Implementing Flexible and Fast Turning Maneuvers of a Multijoint Robotic Fish (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper focuses mainly on the control issues of replicating fast C-start maneuvers commonly found in fish propelled by their bodies and/or caudal fins. To generate an escape maneuver that combines a high degree of flexibility and precision, major factors related to the caudal fins, the moving joints, and the used motors are explored. Specifically, the turning rate is maximized by finely designing the preparatory and propulsive stages, while the relatively precise turning angle is achieved by a closed-loop control strategy in the propulsive and variable stages. Different types of C-starts are extensively implemented and compared by using a four-joint robotic fish. The latest results obtained show that the robotic fish is able to execute C-starts flexibly with a turning angle of up to 213 $^circ$ , a top turning rate of approximately 670 $^circ$ /s measured by the onboard gyroscope. Meanwhile, an upper limit of turning precision of less than 10 $^circ$ is achieved.
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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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    Bipolar Piezoelectric Buckling Actuators (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: A nonlinear piezoelectric amplification mechanism utilizing structural buckling is presented, and its static and dynamic properties are measured and analyzed. Buckling is a pronounced nonlinear effect that occurs at a structurally singular point. A small piezoelectric displacement on the order of 10 μm results in a large buckling displacement on the order of millimeter. Furthermore, the usable stroke is doubled if both sides of the singular point can be reached resulting in bipolar motion. Despite the large gain, buckling is an erratic, singular phenomenon; the side on which deflection will occur is unpredictable. In this paper, multiple design concepts are presented for regulating the buckling direction as well as for extending its usable stroke to bipolar motion. Nonlinear force–displacement relationships are modeled and measured. Nonlinear dynamic analysis using phase planes reveals that the buckling actuator can generate bipolar motion above a specific amplitude. Below this amplitude, it generates only monopolar oscillation. The proposed design concepts are implemented on monolithic flexure mechanisms, and prototype buckling actuators are tested to verify the concepts. Experiments show promising results: 20 N of peak-to-peak output force, and 6.2 mm of bipolar displacement generated by piezoelectric actuators with free displacement of 42 μm.
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    Electromechanical Piezoelectric Power Harvester Frequency Response Modeling Using Closed-Form Boundary Value Methods (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: The conversion of mechanical vibration to electrical energy has shown great promise for extending battery life of smart sensor wireless devices for various engineering applications. This paper presents novel analytical models of a piezoelectric bimorph, using the closed-form boundary value (CFBV) method, for predicting the electromechanical power harvester frequency response. The derivations of the coupled electromechanical dynamic response of the transverse-longitudinal (CEDRTL) form based on the CFBV method were developed using the reduced strong form method of the Hamiltonian principle. The equations from CEDRTL can be reduced to give the coupled electromechanical dynamic response of the transverse (CEDRT) form. The electromechanical frequency response functions with variable load resistance were also given in detail using Laplace transformation. The two theoretical studies are compared together and validated with an experimental study. For some cases, when the load resistance approached open circuit, the difference between CEDRTL and CEDRT tended to be more pronounced. Conversely, the CEDRTL and CEDRT models tended to overlap when the load resistance approached short circuit. Nyquist plots are used to demonstrate the shifting frequency and amplitude changes due to variable resistance. Overall, the experimental and CEDRTL model results were very close to each other.
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    Robust Control of a MEMS Probing Device (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: In this paper, a systematic design based on the robust control theory is developed for a microelectromechanical systems nanopositioning/probing device. The device is fabricated on a silicon-on-insulator substrate, and provides decoupled XY motion by using a parallel kinematics mechanism design. Each axis of the device is actuated by linear comb-drives and the corresponding displacements are sensed by separate comb structures. To improve the sensing resolution, the sensing and driving combs are electrically isolated. The nonlinear dynamic model between the actuation voltage and the sensed displacement will increase the complexity of model identification and control design. We circumvent the nonlinear model by redefining the input and output (I/O) signals during the model definition and identification, which results in linear and time-invariant models. A dynamical model of the system is identified through experimental input–output frequency-domain identification. The implemented $H_{bm infty}$ control design achieves a significant improvement over the response speed, where the bandwidths from the closed-loop sensitivity and complementary sensitivity functions, respectively, are 68 and 74 Hz. When compared to open-loop characteristics, enhancement in reliability and repeatability (robustness to uncertainties) as well as noise attenuation (by over 12%) is demonstrated through this design.
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    Novel Force Sensing Approach Employing Prismatic-Tip Optical Fiber Inside an Orthoplanar Spring Structure (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper presents a novel approach to force sensing by integrating prismatic-tip optical fibers with an orthoplanar spring structure. The complete force sensing solution integrating the prismatic-tip-based sensing concept with an orthoplanar spring mechanism to convert applied forces into a well-delivered displacement whose magnitude can be measured using the optical sensing technique is introduced in this paper. To the best knowledge of the authors, this is the first time that such a force sensing concept has been proposed and studied. The compact force sensor prototype described in this paper demonstrates its capability and feasibility in performing force measurement over a range of 0–2.8 N. The combination of the novel concepts of prismatic-tip optical fiber sensing and the planar spring minimizes the thickness of the sensing device. Due to its simple sensing structure, the sensor is easy to manufacture and can be miniaturized for applications in dexterous robotic handling and the aerospace industry. The proposed sensor is made of nonmetallic materials and operates without the need of electronics components in the sensing area; thus, the sensor is not susceptible to electric or magnetic fields.
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    Regression Methods for Virtual Metrology of Layer Thickness in Chemical Vapor Deposition (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: The quality of wafer production in semiconductor manufacturing cannot always be monitored by a costly physical measurement. Instead of measuring a quantity directly, it can be predicted by a regression method (virtual metrology). In this paper, a survey on regression methods is given to predict average silicon nitride cap layer thickness for the plasma-enhanced chemical vapor deposition dual-layer metal passivation stack process. Process and production equipment fault detection and classification data are used as predictor variables. Various variable sets are compared: one most predictive variable alone, the three most predictive variables, an expert selection, and full set. The following regression methods are compared: simple linear regression, multiple linear regression, partial least square regression, and ridge linear regression utilizing the partial least square estimate algorithm, and support vector regression (SVR). On a test set, SVR outperforms the other methods by a large margin, being more robust toward changes in the production conditions. The method performs better on high-dimensional multivariate input data than on the most predictive variables alone. Process expert knowledge used for a priori variable selection further enhances the performance slightly. The results confirm earlier findings that virtual metrology can benefit from the robustness of SVR, an adaptive generic method that performs well even if no process knowledge is applied. However, the integration of process expertise into the method improves the performance once more.
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    IEEE/ASME Transactions on Mechatronics publication information (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
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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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    Kinematic Algorithms and Robust Controller Design for Inertially Stabilized System (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper describes a controller design method for the inertially stabilized system of a tracking radar. Its aim is to track a reference target trajectory with high accuracy while isolating rigid body rotational motions of a host ship. First, we investigate the trajectory generation problem to make the control input for a target tracking on the moving base. Second, dynamic equations of motion are formulated by the spring-mass-damper system to include rigid body dynamics as well as structural flexibility. The unknown parameters of dynamic equations are estimated with experimental input and output data by minimizing a predicted error. Third, mixed sensitivity ${cal H}_infty$ robust controllers are designed to meet the conflict requirements of robustness and performance in the face of uncertainty. Finally, the proposed optimal controllers demonstrate the effectiveness of design methodology, and show high performance by numerical and experimental results.
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    A Cooperative Heterogeneous Mobile Wireless Mechatronic System (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper describes a framework for controlling a heterogeneous wireless robotic network consisting of aerial and ground vehicles. By use of the term heterogeneous, we imply the synergy of multiple robotic platforms characterized by different dynamics and specialized sensing capabilities. Two main scenarios concerning wireless communications are presented: 1) a decentralized connectivity strategy in which a mesh of ground mobile routers swarms in a cluttered environment maintaining communication constraints based on spring-mass virtual physics, potential functions, and routing optimization and 2) an autonomous communications relay in GPS-denied environments via antenna diversity and extremum-seeking SNR optimization. For both scenarios, we validate the proposed methodologies by numerical simulations and experiments. One important feature of our test bed is that it can be used for both indoor and outdoor operations.
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    An Instrumented Walking Aid to Assess and Retrain Gait (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: An instrumented walking aid, the iWA system, has been developed to measure kinematic and kinetic properties of walking aid (WA) use and deliver feedback to improve gait. The clinical requirements, technical specification and design of the system are developed through clinical collaboration. The development of the system is described, including hardware components and data analysis used to process the measured data for assessment. The system measurements are validated under controlled laboratory conditions. The iWA system is evaluated in a typical U.K. clinical environment by a participant in a rehabilitation session. The resultant data successfully capture the quality of the participant's WA use and agree with clinical opinion, supporting the efficacy of this approach.
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    A Near-Optimal Sensor Scheduling Strategy for an on–off Controller With an Expensive Sensor (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper describes an efficient method for scheduling an energy-consuming sensor sparingly in combination with an on–off controller, specifically for a finite horizon control problem in which only end states are critical. In certain low-power applications, such as autonomous microrobotics, on–off controllers can be very efficient in operating piezoelectric actuators (and other capacitive actuation schemes) compared to traditional analog and pulsewidth modulation controllers. However, with existing sensing circuitry, sensing at the same frequency as control can be prohibitively expensive, because energy consumption in the sensing circuitry may be comparable or even much higher than energy consumption for actuation. Instead, a method is presented for best scheduling a limited number of sensor measurements and updates to control inputs during a finite horizon on–off control problem, in response to Gaussian disturbances and measurement noise. To simplify the problem, a lower bound for the expected value of a quadratic error function of the end states is found, which permits rapid evaluation of candidate sensor times. When actuator energy consumption is incorporated in the optimization, this produces a numerically efficient near-optimal strategy for determining best measurement times and updates to the control input sequence.
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    Nonlinear Characteristic Output Spectrum for Nonlinear Analysis and Design (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: A systematic method for nonlinear analysis, design, and estimation in the frequency domain is proposed in this study using a new concept—nonlinear characteristic output spectrum (nCOS). The nCOS function is an analytical and explicit expression for the relationship between nonlinear output spectrum and system characteristic parameters of interest (including frequency, nonlinear parameters, and excitation magnitude), and can provide a significant insight into nonlinear analysis and design in the frequency domain. Given some simulation or experimental output data of a nonlinear system, the nCOS function of the system can be accurately determined up to any high nonlinear orders with less simulation trials and computation cost compared with a pure simulation-based study or traditional theoretical computations. Moreover, the method can also be used to accurately determine the linear and nonlinear components in the nonlinear output frequency response (or an output spectrum) of a nonlinear system. These results are definitely of significance to nonlinear analysis and design, nonlinear signal processing, system identification, fault detection, etc., in practice. Examples and case studies including analysis of a nonlinear vehicle suspension system are given to illustrate the results.
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    Niching Genetic Scheme With Bond Graphs for Topology and Parameter Optimization of a Mechatronic System (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper presents a novel multimodal evolutionary optimization algorithm for the complex problem of concurrent and integrated design of a mechatronic system, with the objective of realizing the best topology and the best parameters from a multicriteria viewpoint and with different preferences. The associated search space can be large and complex due to the existence of different classes of configurations, possible topologies, and the parameter values of the elements. The proposed algorithm efficiently explores the search space to find several elite configurations for different preferences, with more detailed competition by incorporating the domain knowledge of experts and considering some criteria that are not included in the course of regular evolutionary optimization. The developed approach consists of a two-loop optimization. For each topology, a genetic algorithm-based optimization is performed to find an elite representative of the topology. The elites will compete with each other to become the best design. A strategy of restricted competition selection is employed in the competition of topologies, with the aim of finding alternative elites from which the one that best satisfies the customer preference may be chosen. The designer may incorporate a higher level competition between elites in order to obtain the global optimum.
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    Advanced Motion Control of Electric Vehicles Based on Robust Lateral Tire Force Control via Active Front Steering (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: This paper presents a new motion control method based on robust lateral tire force control (LTFC) to improve vehicle stability or maneuverability. During cornering, vehicle motion is totally governed by lateral forces acting on tires. Thus, the real-time information on tire forces provides advantages in vehicle motion control. Since the lateral tire force measurements are available by using multisensing hub (MSHub) units which were invented by NSK Ltd., the direct LTFC is realizable via active front steering. In control design, a robust control method, e.g., two degree-of-freedom control (2-DOF) with a disturbance observer, is used for improving the reference tracking performance. Moreover, the stability of the proposed control system is discussed by using small gain theorem. The proposed motion controller is implemented on an experimental in-wheel-motor-driven electric vehicle and its performance and effectiveness are verified by field tests. Finally, practical applications of lateral tire force sensors to vehicle motion control systems are discussed.
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    Performance Tradeoffs Posed by Moving Magnet Actuators in Flexure-Based Nanopositioning (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: Moving magnet actuators (MMAs) are direct-drive, single-phase electromagnetic linear actuators that provide frictionless and backlash-free motion over a range of several millimeters. This paper investigates the feasibility of using MMAs to simultaneously achieve large range, high speed, and high motion quality in flexure-based nanopositioning systems. Component and system level design challenges and associated tradeoffs in meeting the aforementioned nanopositioning performance are discussed and derived. In particular, it is shown that even as the overall size of a traditional MMA is varied, the actuation force remains directly proportional to the square root of the actuator's moving magnet mass and the square root of power consumed. This proportionality constant, identified as the dynamic actuator constant, serves as a figure of merit for MMAs. When an MMA is employed in a flexure-based nanopositioning system, this constant directly impacts the system-level positioning performance in terms of range, resolution, speed, and temperature rise. This quantitative determination highlights the significance of incorporating a thermal management system for heat dissipation, minimizing noise and harmonic distortion in the current driver, and improving the force–stroke uniformity of the actuator. Based on this understanding, a single-axis nanopositioning system, which simultaneously achieves 10 mm range, 4 nm resolution, open-loop natural frequency of 25 Hz, and temperature rise of less than 0.5 °C, is designed, fabricated, and tested. Preliminary controller design and closed-loop operation highlight the potential and limitations of MMAs in large-range, high-speed nanopositioning.
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    Call for papers- focused section on Mechatronics for Intelligent Manufacturing (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
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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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    State Recognition of Pedicle Drilling With Force Sensing in a Robotic Spinal Surgical System (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: Spinal orthopedic surgery is one of the typical high-risk surgeries. During the surgery, bone screws need to be inserted into the narrower vertebral pedicles and any failures in the screw-path-drilling process will directly hurt the important nerves and vessels of the patient. In this paper, a robotic spinal surgical system (RSSS) for assisting pedicle screw insertion surgery is proposed. The novel structural configuration of the RSSS can balance the gravity effects of the arms, and the workspace envelope of the RSSS can better fit the requirements of spinal surgery. The procedure of the screw insertion operation with the proposed RSSS is presented. To simulate the hand feel of the surgeon in surgical operations, a real-time force-sensing algorithm is developed for the screw-path-drilling process using a spherical or a twist drill. With the force sensing, five key states, including the initial state, the outer cortical state, the cancellous state, the transitional state, and the inner cortical state, are recognized. In particular, the clear recognition of the transitional zone between the cancellous bone and the inner cortical bone is very important as the drilled screw path ends in this zone. State recognition with force sensing can effectively improve the quality of the screw paths so as to enhance the quality of the spinal surgery. Experiments were carried out to verify the state recognition effects of the pedicle drilling process with force sensing.
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    A New Wheelchair Ergometer Designed as an Admittance-Controlled Haptic Robot (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-01-22
    Description: Wheelchair ergometers aim to simulate the propulsion of a wheelchair in a controlled laboratory setup. One drawback of current ergometers is that the simulated wheelchair is always modeled as a simple unidimensional mass and friction, which do not allow a correct simulation of turning maneuvers. In this paper, we present a new design for a wheelchair ergometer based on haptic robotics. This ergometer allows us to simulate any linear or nonlinear model of the wheelchair–user system in real time, including models that implement turning maneuvers. The presented prototype was validated experimentally. The rear wheels of the ergometer match the rear wheels’ velocities of the simulated wheelchair with a root-mean-square error of 0.9 %. Therefore, the ergometer’s accuracy is mainly bounded by the accuracy of the wheelchair–user model, which means that future improvements of the wheelchair–user model will be directly reflected by the ergometer. The conditions for stability were also evaluated. A minimal simulated mass of 18 kg and a minimal simulated moment of inertia of 1 kg $cdot$ m $^2$ are needed. These requirements are encountered by any wheelchair–user combination.
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    Development of Mechanostimulated Patch-Clamp System for Cellular Physiological Study (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: Mechanosensitive ion channels play important roles for sensing and responding to the mechanical stimuli signals in living life. Here we report the development of a mechanostimulated patch-clamp system for simultaneous recording of external stimuli and acquisition of cellular physiological responses. This system integrates a custom-designed planar patch-clamp system with a robot-assisted atomic force microscope (AFM) system. The former, with a microfluidic channel, can realize not only recording electrical signals but also exchanging intracellular solution; while the latter, enhanced by robotic techniques (local scan force feedback, augmented reality vision feedback), can generate force stimuli with controllable patterns and magnitudes under the operator's real-time monitoring. To verify the performance of the developed system, we first measured the whole-cell current of the voltage-gated potassium ion channel Kv1.1 expressed on Human Embryonic Kidney (HEK293) cells and then recorded the mechanosensitive ion channel current in a mouse neuroblastoma cell line (Neuro2 A) in the whole-cell configuration during the AFM indenting on the membrane surface; finally, confirmed the ability to exchange intracellular solution by delivering propidium iodide into the captured cell through intracellular solution. The results prove the effectiveness of the system.
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    Adaptive Fault-Tolerant Spacecraft Attitude Control Design With Transient Response Control (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: This paper proposes an adaptive fault tolerant attitude controller, based on variable structure control, to address tracking control problem of spacecraft in the presence of unknown actuator failure, control input saturation and external disturbances. In contrast to traditional robust fault tolerant attitude controllers, the proposed controller is capable of controlling the transient response of the closed loop system by means of a dedicated parameter. Also this method does not require exact knowledge of the actuator faults and is implemented with uncertain value of fault information. By adjusting a simple parameter dynamically and using Lyapunov direct method and the properties of quaternion representation, the ultimate boundedness of attitude and angular velocity errors in presence of external disturbances is proven. Numerical simulations used to prove the success of proposed controller in achieving high attitude performance in the presence of external disturbances, inexact knowledge of fault information, actuator failures and control input saturation.
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    Design and Development of a Single-Motor, Two-DOF, Safe Manipulator (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: This paper presents the design and development of a novel two degrees-of-freedom safe robot manipulator. Magnetorheological clutches are incorporated in the design to enable antagonistic actuation at the joints. A single unidirectional motor supports bidirectional actuation of all joints. Unlike most current safe robots, high-quality actuation is preserved, while the manipulator weight and effective inertia are reduced. This is achieved by relocating the driving motor to the base of the robot. Moreover, magnetorheological clutches have been shown to pose superior torque to mass, and torque to inertia characteristics over conventional servo motors, further contributing to the reduction of manipulator mass and inertia. The manipulator exhibits both high performance and intrinsic safety as a result of mechanically passive dynamics. A set of experiments is performed to validate the manipulator performance.
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    A Nonlinear Controller for Pneumatic Servo Systems: Design and Experimental Tests (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: This paper is dedicated to the problem of pneumatic cylinder control without pressure measurement. Based on the theory of homogeneous, finite-time stable, ordinary differential equations, a state-feedback nonlinear controller is proposed. The closed-loop system stability is proved and an attraction domain of the controller is given. The performances and the effectiveness of the proposed controller are illustrated against an experimental setup consisting of a pneumatic cylinder controlled by a dSPACE dS1103 microcontroller.
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    MRI-Safe Robot for Endorectal Prostate Biopsy (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: This paper reports the development of an MRI-Safe robot for direct (interventional) MRI-guided endorectal prostate biopsy. The robot is constructed of nonmagnetic and electrically nonconductive materials, and is electricity free, using pneumatic actuation and optical sensors. Targeting biopsy lesions of MRI abnormality presents substantial clinical potential for the management of prostate cancer. This paper describes MRI-Safe requirements and presents the kinematic architecture, design, and construction of the robot, and a comprehensive set of preclinical tests for MRI compatibility and needle targeting accuracy. The robot has a compact and simple three degree-of-freedom (DoF) structure, two for orienting a needle-guide and one to preset the depth of needle insertion. The actual insertion is performed manually through the guide and up to the preset depth. To reduce the complexity and size of the robot next to the patient, the depth setting DoF is remote. Experimental results show that the robot is safe to use in any MRI environment (MRI-Safe). Comprehensive MRI tests show that the presence and motion of the robot in the MRI scanner cause virtually no image deterioration or signal-to-noise ratio change. Robot's accuracy in bench test, CT-guided in-vitro, MRI-guided in-vitro , and animal tests are 0.37, 1.10, 2.09, and 2.58 mm, respectively. These values are acceptable for clinical use.
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    Estimating Dynamics On-the-Fly Using Monocular Video For Vision-Based Robotics (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: Estimating the physical parameters of articulated multibody systems (AMBSs) using an uncalibrated monocular camera poses significant challenges for vision-based robotics. Articulated multibody models, especially ones including dynamics, have shown good performance for pose tracking, but require good estimates of system parameters. In this paper, we first propose a technique for estimating parameters of a dynamically equivalent model (kinematic/geometric lengths as well as mass, inertia, damping coefficients) given only the underlying articulated model topology. The estimated dynamically equivalent model is then employed to help predict/filter/gap-fill the raw pose estimates, using an unscented Kalman filter. The framework is tested initially on videos of a relatively simple AMBS (double pendulum in a structured laboratory environment). The double pendulum not only served as a surrogate model for the human lower limb in flight phase, but also helped evaluate the role of model fidelity. The treatment is then extended to realize physically plausible pose-estimates of human lower-limb motions, in more-complex uncalibrated monocular videos (from the publicly available DARPA Mind’s Eye Year 1 corpus). Beyond the immediate problem-at-hand, the presented work has applications in creation of low-order surrogate computational dynamics models for analysis, control, and tracking of many other articulated multibody robotic systems (e.g., manipulators, humanoids) using vision.
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    A Simple and Parallel Algorithm for Real-Time Robot Localization by Fusing Monocular Vision and Odometry/AHRS Sensors (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: Vision and odometry/attitude and heading reference system (AHRS, three-axial gyroscopes, accelerometers, and magnetometers) sensors fusion strategy is prevalent in the recent years for the robot localization, due to its low cost and effectiveness in global positioning system (GPS)-denied environments. In this paper, a new adaptive estimation algorithm is proposed to estimate the robot position by fusing the monocular vision and odometry/AHRS sensors, and utilizing the properties of perspective projection. By the new method, the robot can be localized in real time in the GPS-denied and mapless environments, and the localization results can be theoretically proved convergent to their real values. Compared to other methods, our algorithm is simple to implement and suitable for parallel processing. To achieve the real-time performance, the algorithm is implemented in parallel using graphics processing unit (GPU), and therefore, it can be easily integrated into mobile robots’ tasks like navigation and motion control, which need the real-time localization information. Simulations and experiments were conducted to validate the good convergence and longtime robustness performances of the proposed real-time localization algorithm.
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    IEEE/ASME Transactions on Mechatronics information for authors (2014)
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    Publication Date: 2014-04-30
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    IEEE/ASME Transactions on Mechatronics publication information (2014)
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    Publication Date: 2014-04-30
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    Tracking of Triangular Reference Signals Using LQG Controllers for Lateral Positioning of an AFM Scanner Stage (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: This paper presents the design of an internal reference model-based optimal linear quadratic Gaussian (LQG) controller for the lateral positioning of a piezoelectric tube actuator (PTA) used in an atomic force microscope (AFM). In this control design, internal modeling of the reference signal and system error are considered. As a result, the steady-state tracking error is minimized. In addition to the LQG controller, a vibration compensator is incorporated with the plant to suppress the vibration of the PTA at the resonance frequency. It achieves a high closed-loop bandwidth and significant damping of the resonant mode of the PTA, which enables a reference triangular signal to be tracked. Comparison of performance of the optimal LQG controller augmented with a vibration compensator and a PI controller demonstrates that the proposed controller shows significant improvements over the existing AFM PI controller.
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    Event-Based Localization in Ackermann Steering Limited Resource Mobile Robots (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: This paper presents a local sensor fusion technique with an event-based global position correction to improve the localization of a mobile robot with limited computational resources. The proposed algorithms use a modified Kalman filter and a new local dynamic model of an Ackermann steering mobile robot. It has a similar performance but faster execution when compared to more complex fusion schemes, allowing its implementation inside the robot. As a global sensor, an event-based position correction is implemented using the Kalman filter error covariance and the position measurement obtained from a zenithal camera. The solution is tested during a long walk with different trajectories using a LEGO Mindstorm NXT robot.
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    Shape Tracking of Planar Hyper-Flexible Beams via Embedded PVDF Deflection Sensors (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: In this paper, we present an embedded shape-sensing method for soft robotics. Soft actuators and structures are paramount for safe human–robot interaction and are of interest in biomimetics, biotechnology and defense. Control of compliant manipulators is challenging because of their large deformations, hence a form of shape feedback is required. We propose a tracking system for continuum structures using deflection sensors made of polyvinylidene fluoride (PVDF), a thin piezoelectric polymer. We demonstrate that hyper-flexible beam shapes may be parameterized with a small set of basis functions and that the deflection sensors can be used to determine the weights of the basis functions. In other words, shape reconstruction of the beam shape is reduced to solving a linear interpolation problem defined by the sensors. Interpreting the sensors with this method can reduce the cumulative errors associated with piecewise methods. We demonstrate shape tracking of a hyper-flexible beam in two-dimensional (2-D) on two experimental test beds: a pneumatic bellows actuator and a hyper-flexible plastic ruler. In addition, the data were used in simulation, for systematic investigation of several aspects: number of sensors, their relative-size, and the type of basis functions used for parameterization. We demonstrate tracking capabilities and propose guidelines for the ideal sensor layout. Our approach facilitates kinematic monitoring and control of continuum manipulators and flexible structures.
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    Adaptive Knee Joint Exoskeleton Based on Biological Geometries (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: This paper presents a relatively complete analytical model of a knee joint interacting with a two-link exoskeleton for investigating the effects of different exoskeleton designs on the internal joint forces/torque in the knee. The closed kinematic chain formed by the leg and exoskeleton has a significant effect on the joint forces/torque in the knee. A bio-joint model is used to capture this effect by relaxing a commonly made assumption that approximates a knee joint as a perfect engineering pin-joint in designing an exoskeleton. Based on the knowledge of a knee-joint kinematics, an adaptive knee-joint exoskeleton has been designed to eliminate negative effects associated with the closed leg-exoskeleton kinematic chain on a human knee. For experimental validation, the flexion motion of an artificial human knee is investigated comparing the performances of five exoskeleton designs against the case with no exoskeleton. Analytical results that estimate internal forces/torque using the kinematic and dynamic models (based on the properties of a knee joint) agree well with data obtained experimentally. This investigation illustrates the applications of the analytical model for designing an adaptive exoskeleton that minimizes internal joint forces due to a knee-exoskeleton interaction.
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    Bioinspired Hydrodynamic Force Feedforward for Autonomous Underwater Vehicle Control (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: It is believed that the lateral line found in most fish and some other aquatic organisms plays an important role in many behaviors by providing hydrodynamic information about the surrounding fluid. This paper presents a lateral line inspired feedforward control design for the autonomous underwater vehicles. The goal of this paper is to improve maneuvering accuracy for underwater exploration and environmental monitoring. The proposed controller takes pressure measurements at multiple locations over the entire vehicle hull and forms a B-spline surface approximation of the pressure distribution. Hydrodynamic forces acting on the vehicle are then estimated and passed to the controller for the improved trajectory tracking performance. The algorithm is formulated in such a way that the force estimation is a linear, fixed weight combination of the pressure signals, which enables rapid online computation. The performance of the feedforward controller is simulated in conjunction with the “robust integral of the sign of the error” control design. Trajectory tracking is investigated for control accuracy in the presence of localization errors. Reduced tracking errors are observed with the feedforward design. Experimental tests with pressure sensors on a moving cylinder further vindicate the force estimation algorithm.
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    Active Motion Control of a Hydraulic Free Piston Engine (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: The free piston engine (FPE), as an alternative of the conventional internal combustion engine, could significantly impact the energy consumption and emissions of both on-highway and off-highway vehicles. In an FPE, the piston motion is dependent on the combustion chamber gas dynamics and the loading dynamics in real time. One of the technical barriers that prevents the wide spread of this technology is the lack of precise piston motion control. In this paper, we present the modeling and control of a hydraulic FPE with an opposed-piston opposed-cylinder design. Specifically, a comprehensive system model is first built and validated to study the dynamics of the engine operation. The simulation studies lead to the design of an active piston motion controller, which acts as a virtual crankshaft by utilizing energy in the storage element to regulate the piston to follow a predefined trajectory. With a designated optimal trajectory, the virtual crankshaft ensures stable and robust operation in engine motoring. Preliminary combustion testing results and analysis are also included in this paper.
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    Energy Regenerative Suspension Using an Algebraic Screw Linkage Mechanism (2014)
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    Publication Date: 2014-04-30
    Description: This paper presents the development of a novel energy-regenerative suspension mechanism. The system consists of a mass-spring unit coupled with an algebraic screw kinematic pair, a rotary permanent magnet synchronous generator (PMSG), and a three-phase boost charger connected to a battery. The algebraic screw converts the translational vibration into a reciprocating rotary motion which drives the PMSG through a planetary gearhead. A pulse-width-modulated three-phase boost converter is then used to convert the energy generated by the rotary machine into battery charge. To this end, a control and switching algorithm is utilized that makes the battery appear as a pseudo-resistor across the terminals of the rotary machine. Introducing this pseudo-resistive characteristic across the machine produces the same effect as mechanical damping with an energy regenerative function. The design and analysis of the regenerative suspension mechanism are presented by considering the dynamics of the electromechanical device, parameters of the suspension system, and the base excitation input profile. Experimental results are presented that evaluate performance of the proposed regenerative damper on a small-scale suspension system, which demonstrate the feasibility of building energy-regenerative dampers.
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    Soft Actuator Mimicking Human Esophageal Peristalsis for a Swallowing Robot (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: Provision of modified foods and drinks is one of the approaches for dysphagia management, which is based on the assumption that food with proper texture and rheological properties will allow dysphagia patients to swallow safely and maintain adequate nutrition. However, lack of information about the in vivo swallowing process and its interaction with food flow has obstructed the effective management of dysphagia. In the esophageal swallowing stage, masticated food is transported through the esophagus to the stomach by a peristaltic mechanism, which is generated by sequential contraction and relaxation of esophageal muscles. Inspired by this behavior, a soft actuator is proposed to provide a nonrisk environment aiming to facilitate investigations of the most effective properties of food for the management of the swallowing disorders. The wave-like motion is first specified according to the in vivo measurement of human esophageal peristalsis. Finite-element analysis simulations are carried out to aid the structure design before prototype manufacture. Constructed by casting silicon rubber in a three-dimensional (3-D) printed customized mold, the novel actuator has soft structure resembling its human counterpart, which has a flexible muscular structure. Multiple layers of inflatable chambers are embedded and distributed along the axis of a food passage regularly, which locates at the center of the actuator. The actuator is capable of generating a peristaltic wave and pushing a bolus along the passage. The closure of the tube and the velocity of the propagation wave are going to be adjusted to achieve the trajectories recorded experimentally, by regulating the compressed air pressure pumped into chambers actively.
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    Reduced-Order Dynamic Model of Permanent Magnet and HTSC Interaction in an Axisymmetric Frame (2014)
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    Publication Date: 2014-04-30
    Description: This paper presents a reduced order model for a permanent magnet (PM) and high-temperature superconductor (HTSC) in an axisymmetric frame. This model is formulated as a bond-graph to aid integration into system models for applications such as lift bearings, where the nonlinear force–displacement interactions are important for stability analysis and control design. The reduced-order model is based on the mechanical and electromagnetic interaction between a PM and bulk HTSC. Performance of the proposed reduced-order model is compared to finite element method (FEM) analysis and experimental tests to confirm the static and transient performance.
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    Impulsive Actuation in Robot Manipulators: Experimental Verification of Pendubot Swing-Up (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: There are many benefits of using impulsive actuation in dynamical systems; therefore, control systems with impulsive inputs have been widely investigated. All of these investigations, however, have been theoretical in nature and few have reported experimental implementation. This paper discusses continuous-input approximations of impulsive forces in robot manipulators and their implementation in a simple pendulum (one-link robot) using an electric motor. The insights gained from the pendulum experiments are used to implement an existing algorithm for swing-up of the pendubot based on impulsive forces. The experimental results validate the swing-up algorithm but, more importantly, establish the feasibility of using impulsive inputs for robots and other electromechanical systems.
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    IEEE Xplore Digital Library (2014)
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    Memory-Based Passivation Approach for Stable Haptic Interaction (2014)
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    Publication Date: 2014-04-30
    Description: Inspired from the graphical interpretation of passivity in a position versus force xy graph, this paper proposes a new concept of passivation method to increase the dynamic range of impedance in which a haptic interface can passively interact. The position versus force graph represents the energy behavior in a one-port haptic interface while the haptic interface is traveling in (pressed) or out of (released) a virtual environment (VE). It interprets that to make the one-port system passive, it is sufficient to bound the releasing path below the pressing path in the position versus force graph. To realize the bound, the computed force output from the VE is saved into a designated memory, addressed by current position, while the haptic interface is pressed. Thereafter, the saved force can be reused to upper-bound the releasing path below the saved pressing path while the haptic interface is released. The proposed method is generalized from preliminary work by including interaction with a moving virtual object and multi-DOF extension, together with more systematic and detailed explanations about the methods. In particular, we reconfigure the one-port moving virtual object as a two-port haptic controller and a connected one-port moving inertia. This reconfiguration allows implementation of the preliminary approach including the interaction with moving virtual objects by using an error versus force passivity instead of a position versus force passivity. This two-port extension also allows generalization of the proposed method to multi-DOF interactions by introducing virtual proxy as a virtual moving object. The proposed method is tested with a single and a multi-DOF haptic interface and shows better performance than the recently proposed field-programmable gate array-based time-domain passivity approach .
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    Magnetic Signature Attenuation of an Unmanned Aircraft System for Aeromagnetic Survey (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: A novel magnetic signature attenuation technique based on reconfiguring the location and orientation of the onboard magnetic sources of an unmanned aircraft system (UAS) is presented in this paper. The UAS, GeoSurv II, is intended for high-resolution aeromagnetic survey which requires the magnetic signature of the aircraft to be very low. Genetic algorithm (GA) is used to find an optimum configuration given multiple objective functions motivated by the application. The magnetic field contribution from a single servomotor onboard GeoSurv II is modeled as a single permanent magnet dipole, which is then used to build the cost function for the GA routine. The optimization/simulation outcome suggests very little alteration in the current configuration of the GeoSurv II servomotors resulting in a substantial improvement of the overall magnetic signature of the UAS. The simulation results are validated by practical experimentation. The experimental results, in addition to the simulation results, further confirm that the GA optimized configuration substantially outperforms the current configuration in terms of magnetic signature of GeoSurv II.
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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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    Polymer-Based Flexible Visuo-Haptic Display (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: We report a flexible visuo-haptic display that allows for interactive haptic feedback on the visual display. The visuo-haptic display is fabricated by integrating a dielectric elastomer (DE) based thin film actuator array into a flexible display and pressure sensors. The DE actuator array consists of nine active cells, which generate thickness-mode deformation in response to voltage signal. The flexible display presents images of the aligned three alphabet characters at each section in 3 × 3 matrix during light propagation via optical multiwaveguide. The pressure sensors are placed on the bottom of the DE actuator array for haptic feedback. The performance of the DE actuators is proved to be capable of realizing sufficient vibro-tactile sensation in the perceivable range of human touch sense. The integrated system enables the visual display to provide interactive haptic feedback such as key pressing, contact vibration sensations, etc., in accordance with user input.
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    Nonlinear Controller With the Dead-Zone and Saturation for Optical Disk Drive Systems in the Presence of External Shocks (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
    Description: In this paper, a nonlinear controller with dead-zone and saturation is proposed in order to improve the antishock performance. Since using dead-zone and saturation improves the stability margin, we can use a higher gain for the dead-zone than in the previous methods. In addition, we find that the overall controller with a linear lead-lag controller has an improved stability margin over controllers with the PID linear control in this application. The experimental results confirmed that the proposed method provides improved protection against external shock.
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    Do what you do better with What's New @ IEEE Xplore (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-04-30
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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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    IEEE/ASME Transactions on Mechatronics publication information (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
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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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    New Geometric Approaches to the Analysis and Design of Stewart–Gough Platforms (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: In general, rearranging the legs of a Stewart–Gough platform, i.e., changing the locations of its leg attachments, modifies the platform singularity locus in a rather unexpected way. Nevertheless, some leg rearrangements have been recently found to leave singularities invariant. Identification of such rearrangements is useful not only for the kinematic analysis of the platforms, but also as a tool to redesign manipulators avoiding the implementation of multiple spherical joints, which are difficult to construct and have a small motion range. In this study, a summary of these singularity-invariant leg rearrangements is presented, and their practical implications are illustrated with several examples including well-known architectures.
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    Bounded Assignment Formation Control of Second-Order Dynamic Agents (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: A constructive design of bounded formation controllers is proposed to force $N$ mobile agents with second-order dynamics to track $N$ reference trajectories and to avoid collision between them. Instead of a prior assignation of the reference trajectories to the agents, optimal assignment algorithms are used to assign desired reference trajectories to the agents to obtain optimal criteria such as linear summation and bottleneck functions of the initial traveling distances of the agents. After the reference trajectories are optimally assigned, the bounded formation control design is based on a new bounded control design technique for second-order systems and new pairwise collision avoidance functions. The pairwise collision functions are functions of both relative positions and relative velocities of the agents instead of only relative positions as in the literature. The proposed results are illustrated on a group of underactuated omnidirectional intelligent navigators in a vertical plane.
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    Robust Discrete-Time MRAC With Minimal Controller Synthesis of an Electronic Throttle Body (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: The electronic throttle body (ETB) is a fundamental actuator for regulating the air mass coming into an internal combustion engine; hence, it is used to control the engine torque in any modern drive-by-wire configuration. To cope with the nonlinear and discontinuous dynamics of this automotive device, in this paper a novel discrete-time model reference adaptive control (MRAC) method is designed and experimentally tested on an ETB installed on a 2-L engine. The control strategy extends the class of the minimal control synthesis (MCS) algorithms for discrete-time systems by adding an explicit discrete-time adaptive integral action and an adaptive robust term. An in-depth experimental investigation shows that the proposed control method is a viable solution as it is robust with respect to nonlinear torques acting on the plant, and it guarantees better performance than those provided by other MRAC strategies especially for small reference signals around the limp-home position where plant nonlinearities strongly affect the ETB dynamics.
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    Minimizing Energy Consumption of Wheeled Mobile Robots via Optimal Motion Planning (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: This paper presents a new optimal motion planning aiming to minimize the energy consumption of a wheeled mobile robot in robot applications. A model that can be used to formulate the energy consumption for kinetic energy transformation and for overcoming traction resistance is developed first. This model will provide a base for minimizing the robot energy consumption through a proper motion planning. To design the robot path, the A $^*$ algorithm is employed to generate an energy-efficient path where a new energy-related criterion is utilized in the cost function. To achieve a smooth trajectory along the generated path, the appropriate arrival time and velocity at the defined waypoints are selected for minimum energy consumption. Simulations and experiments are performed to demonstrate the energy-saving efficiency of the proposed motion planning approach.
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    Modeling and Sensorless Direct Torque and Flux Control of a Dual-Airgap Axial Flux Permanent-Magnet Machine With Field-Weakening Operation (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: This paper presents the modeling and motion-sensorless direct torque and flux control of a novel dual-airgap axial-flux permanent-magnet machine optimized for use in flywheel energy storage system (FESS) applications. Independent closed-loop torque and stator flux regulation are performed in the stator flux ( x–y) reference frame via two PI controllers. This facilitates fast torque dynamics, which is critical as far as energy charging/discharging in the FESS is concerned. As FESS applications demand high-speed operation, a new field-weakening algorithm is proposed in this paper. Flux weakening is achieved autonomously once the $y$ -axis voltage exceeds the available inverter voltage. An inherently speed sensorless stator flux observer immune to stator resistance variations and dc-offset effects is also proposed for accurate flux and speed estimation. The proposed observer eliminates the rotary encoder, which in turn reduces the overall weight and cost of the system while improving its reliability. The effectiveness of the proposed control scheme has been verified by simulations and experiments on a machine prototype.
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    Superconducting Noncontact Device for Precision Positioning in Cryogenic Environments (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: In this paper, a noncontact linear positioner based on superconducting magnetic levitation for high-precision positioning has been tested under cryogenic conditions (∼20 K and ∼10 $^{-6}$ Pa). The prototype is able to achieve submicrometric positioning resolution of 230 ± 30 nm RMS along a stroke of ±9 mm length with a current resolution of 15 μA, and a peak current requirement lower than ±500 mA. In addition, it was demonstrated that an open-loop control strategy could be used for positioning the moving part with the accuracy of the order of 1 μm. On the other hand, deviations of the slider position were found to be ±650 μrad for the pitch, lower than 100 μrad for the yaw, ±2000 μrad for the roll, and ±4 μm for the lateral run, all of them related to a full stroke motion. These results reveal a good performance of the device and demonstrate the potential of a new tool for applications, where high-precision positioning is required within a long range in cryogenic environments like far-infrared interferometry.
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    Dynamic Visual Servoing With Chaos Control for Redundant Robots (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: This paper presents a new dynamic visual control system for redundant robots with chaos compensation. In order to implement the visual servoing system, a new architecture is proposed that improves the system maintainability and traceability. Furthermore, high performance is obtained as a result of parallel execution of the different tasks that compose the architecture. The control component of the architecture implements a new visual servoing technique for resolving the redundancy at the acceleration level in order to guarantee the correct motion of both end-effector and joints. The controller generates the required torques for the tracking of image trajectories. However, in order to guarantee the applicability of this technique, a repetitive path tracked by the robot-end must produce a periodic joint motion. A chaos controller is integrated in the visual servoing system and the correct performance is observed in low and high velocities. Furthermore, a method to adjust the chaos controller is proposed and validated using a real three-link robot.
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    Hybrid Power Plant Design for a Long-Range Dirigible UAV (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: Unmanned aerial vehicle (UAV) dirigibles are well suited for surveillance and surveyance missions since they can hover and maintain lift without consuming energy and can be easily deflated for packaging and transportation. The challenge is developing a long endurance system while maintaining a low unit cost. This paper presents a novel hybrid power plant design that addresses both of these requirements. The lightweight design consists of a 4-stroke 14cc gasoline engine in-line with a brushless dc motor/generator and variable pitch propeller capable of producing a maximum power output of 250 W. A method was also developed to compare its performance and endurance to other power plant configurations that could be used in dirigible UAVs. Overall, the proposed hybrid power plant has 674% increase in energy density over that of a purely electric system, thereby proportionally increasing UAV flight time for the same power and weight.
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    Design and Optimization of a Tubular Linear Electromagnetic Vibration Energy Harvester (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: This paper presents the design and optimization of tubular linear electromagnetic transducers (LETs) for the applications of large-scale vibration energy harvesting from vehicle suspensions, tall buildings, or long-span bridges. The LETs are composed of magnet and coil assemblies, which convert the vibration energy into electricity when moving relatively with each other. The parameters of the LETs, such as the thickness of the magnets in the axial direction and the thickness of the coils in the radial direction, are optimized using finite-element method to achieve high power density and damping density. Four LETs with different configurations namely, single-layer axial magnets and steel spacers, double-layer axial magnets and steel spacers, single-layer axial and radial magnets, double-layer axial and radial magnets are investigated for further improvement. It is found that the parameter optimization can increase the power density [W/m $^{3}$ ] of LETs to 3.8 times compared with the initial design by Zuo and coworkers, and the double-layer configuration with both radial and axial magnets can improve the power density up to 5.6 times, approaching to the energy dissipation rate of traditional oil dampers. A prototype using off-shelf axial NdFeB magnet is built and tested on a vibration shaker. The experiment results show that the prototype of 63.5 mm ( $2.5^{primeprime}$ ) outer diameter and 305 mm (12 in) compressed length can harvest 2.8 W power at 0.11 m/s relative velocity and provide a damping coefficient of 940 N·s/m. It is estimated that average 26–33 W electrical power and 1680–2142 N·s/m damping coefficient can be achieved at 0.25 m/s root-mean-square velocity for different LETs of $3^{primeprime}$ outer diameter and $12^{primeprime}$ compressed length.
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    Damping and Tracking Control Schemes for Nanopositioning (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: Fast and accurate tracking of reference trajectories is highly desirable in many nanopositioning applications, including scanning probe microscopy. Performance in common positioning stage designs is limited by the presence of lightly damped resonances and actuator nonlinearities such as hysteresis and creep. To improve the tracking performance in such systems, several damping and tracking control schemes have been presented in the literature. In this paper, six different control schemes are presented and applied to a nanopositioning system for experimental comparison. They include schemes applying damping control in the form of positive position feedback, integral resonant control, integral force feedback, and passive shunt-damping. Also, general pole placement in the form of model reference control, as well as a control scheme requiring only a combination of a low-pass filter and an integrator, is presented. The control schemes are fixed-structure, low-order control laws, for which few results exist in the literature with regard to optimal tuning. A practical tuning procedure for obtaining good tracking performance for five of the control schemes is, therefore, presented. Experimental results show that the schemes provide similar performance, and the main differences are due to the specific implementation of each scheme.
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    High-Accuracy Tracking Control of Hydraulic Rotary Actuators With Modeling Uncertainties (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: Structured and unstructured uncertainties are the main obstacles in the development of advanced controllers for high-accuracy tracking control of hydraulic servo systems. For the structured uncertainties, nonlinear adaptive control can be employed to achieve asymptotic tracking performance. But modeling errors, such as nonlinear frictions, always exist in physical hydraulic systems and degrade the tracking accuracy. In this paper, a robust integral of the sign of the error controller and an adaptive controller are synthesized via backstepping method for motion control of a hydraulic rotary actuator. In addition, an experimental internal leakage model of the actuator is built for precise model compensation. The proposed controller accounts for not only the structured uncertainties (i.e., parametric uncertainties), but also the unstructured uncertainties (i.e., nonlinear frictions). Furthermore, the controller theoretically guarantees asymptotic tracking performance in the presence of various uncertainties, which is very important for high-accuracy tracking control of hydraulic servo systems. Extensive comparative experimental results are obtained to verify the high-accuracy tracking performance of the proposed control strategy.
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    The Variable Stiffness Actuator vsaUT-II: Mechanical Design, Modeling, and Identification (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: In this paper, the rotational variable stiffness actuator vsaUT-II is presented. This actuation system is characterized by the property that the apparent stiffness at the actuator output can be varied independently from its position. This behavior is realized by implementing a variable transmission ratio between the internal elastic elements and the actuator output, i.e., a lever arm with variable pivot point position. The pivot point is moved by a planetary gears mechanism, which acquires a straight motion from only rotations, thereby providing a low-friction transmission. The working principle details of the vsaUT-II are elaborated and the design is presented. The actuator dynamics are described by means of a lumped parameter model. The relevant parameters of the actuator are estimated and identified in the physical setup and measurements are used to validate both the design and the derived model.
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    Design and Actuator Selection of a Lower Extremity Exoskeleton (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: Lower extremity exoskeletons are wearable robots that integrate human intelligence with the strength of legged robots. Recently, lower extremity exoskeletons have been specifically developed for transportation of disabled individuals. This paper summarizes the anthropomorphic design of a lower extremity exoskeleton named “walking supporting exoskeleton (WSE).” WSE has been developed to support some fundamental motions (walking, sitting, standing, etc.) of disabled individuals who lost leg muscular activities completely or partially. WSE has two degrees of freedom per leg which are powered by electrical actuators. This paper discusses critical design criteria considered in mechanical design and actuator selection of WSE.
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    An Analytical Approach to Integral Resonant Control of Second-Order Systems (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: Systems with colocated sensor–actuator pairs exhibit the interesting property of pole–zero interlacing. Integral resonance control (IRC) exploits this property by changing the pole–zero interlacing to zero-pole interlacing. The unique phase response of this class of systems enables a simple integral feedback controller to add substantial damping. Over the past few years, IRC has proven to be extremely versatile and has been applied to a wide variety of systems whose dominating dynamics of interest can be accurately modeled by second-order transfer functions. To date, a manual approach has been employed to determine the parameters of the IRC scheme, namely the feed-through term and the integral gain. In this paper, the relationship between the feed-through term, integral gain, and achievable damping is derived analytically for undamped/lightly damped second-order systems. The relationship between damping controller and an outer servo loop is also derived. These results add to the current understanding of colocated systems and automate the design of IRC controllers with a specified damping and tracking bandwidth. The presented results are applied to design and implement a damping and tracking controller for a piezoelectric nanopositioning stage.
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    An $bm{O(nlog n)}$ Shortest Path Algorithm Based on Delaunay Triangulation (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: In Euclidean and/or $lambda$ -geometry planes with obstacles, the shortest path problem involves determining the shortest path between a source and a destination. There are three different approaches to solve this problem in the Euclidean plane: roadmaps, cell decomposition, and potential field. In the roadmaps approach, a visibility graph is considered to be one of the most widely used methods. In this paper, we present a novel method based on the concepts of Delaunay triangulation, an improved Dijkstra algorithm and the Fermat points to construct a reduced visibility graph that can obtain the near-shortest path in a very short amount of computational time. The length of path obtained using our algorithm is the shortest in comparison to the other fastest algorithms with $O(nlog n)$ time complexity. The proposed fast algorithm is especially suitable for those applications which require determining the shortest connectivity between points in the Euclidean plane, such as the robot arm path planning and motion planning for a vehicle.
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    Sensorless Position Control For Piezoelectric Actuators Using A Hybrid Position Observer (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: Soft piezoelectric actuators are extensively used in micro- and nanopositioning applications. Traditional sensorless position control approaches use a hysteresis mapping between voltage and position in a voltage feedforward control scheme in order to compensate for hysteresis errors. However, several factors such as frequency, temperature, and aging influence this mapping. Recently, charge control for positioning is also attracting interest among researchers due to the linear relationship between position and charge. However, a sophisticated hardware design is required to minimize charge drift. In this study, a new sensorless position control technique is proposed which requires neither an accurate inverse mapping nor a sophisticated charge amplifier in order to compensate for hysteresis. A constitutive relationship is employed to infer position from charge measurement through current integration. To eliminate drift from the charge-based measurement, an observer is presented in this study which uses a second self-sensing position estimate that is based on the variation of effective piezoelectric capacitance with stroke. The proposed observer is tested as a position feedback sensor inside a simple integrating control loop and applied to step profiles of variable stroke and sinusoidal profiles of constant and mixed frequencies. The responses are compared with a laser interferometer and the maximum observer error between the laser and the observer is 0.89 $,mu hbox{m}$ ( $〈$ 3% of the maximum stroke) over a frequency range of 10 to 100 Hz.
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    Optimization of Tension Distribution for Cable-Driven Manipulators Using Tension-Level Index (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: Cable-driven manipulators (CDMs) are a special class of parallel manipulators driven by cables instead of rigid links. Due to the unilateral driving property of cables, CDMs require redundant actuation to maintain positive cable tensions. As a result of actuation redundancy, there exist an infinite number of possible cable tension solutions for a particular CDM pose. In this paper, a tension optimization method is proposed to obtain adjustable tension solution for CDMs. Adjustable tension solution is important because it enables the avoidance of tension limits and allows the stiffness of the CDM to be regulated. Tension-level indices are introduced to provide a systematic and practical way of setting the desired cable tensions level. The adjustable tension solution for each pose is obtained using a modified gradient projection method. The proposed method is generic and can be applied to CDMs with any number of redundant actuation. Simulation results show that the method is computationally efficient and the tension solutions can be manipulated by changing the tension-level indices. The simulation results have also been validated by experimental studies.
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    Data-Based Modeling of Vehicle Crash Using Adaptive Neural-Fuzzy Inference System (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: Vehicle crashes are considered to be events that are extremely complex to be analyzed from the mathematical point of view. In order to establish a mathematical model of a vehicle crash, one needs to consider various areas of research. For this reason, to simplify the analysis and improve the modeling process, in this paper, a novel adaptive neurofuzzy inference system (ANFIS-based) approach to reconstruct kinematics of colliding vehicles is presented. A typical five-layered ANFIS structure is trained to reproduce kinematics (acceleration, velocity, and displacement) of a vehicle involved in an oblique barrier collision. Subsequently, the same ANFIS structure is applied to simulate different types of collisions than the one which was used in the training stage. Finally, the simulation outcomes are compared with the results obtained by applying different modeling techniques. The reliability of the proposed method is evaluated thanks to this comparative analysis.
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  • 85
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    Direct Joint Space State Estimation in Robots With Multiple Elastic Joints (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: For robots with joint elasticity, discrepancies exist between the motor side and the load side (e.g., the link of the robotic joint). Thus, the load side (end-effector) performance can hardly be guaranteed with motor side measurements alone. In this paper, a computationally efficient load side state estimation scheme is proposed for the multi-joint robot with joint elasticity, which is equipped with motor encoders and a low-cost end-effector MEMS sensor such as a three-axial accelerometer. An optimization-based inverse differential kinematics algorithm is developed to obtain the load side joint state rough estimates. With these rough estimates, the estimation problem is decoupled into simple second-order kinematic Kalman filter for each joint to refine the joint position and velocity estimates. Maximum likelihood principle is utilized to estimate the fictitious noise covariances used in the Kalman filter. Both offline and online solutions are derived. The extensions to other sensor configurations are discussed as well. The effectiveness of the developed method is validated through the simulation and the experimental study on a 6-DOF industrial robot.
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    Pressure-Distribution Methods for Estimating Lifting Force of a Swirl Gripper (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: The swirl gripper is a recently developed noncontact handling device that generates swirling air flow to create an upward lifting force. This force can be used to pick up a work piece placed underneath the swirl gripper without any contact. It is applicable, for example, in the semiconductor wafer manufacturing process, where contact must be avoided during the handling and moving of a work piece to minimize damage. For the purpose of indirectly estimating the lifting force of the swirl gripper, pressure-distribution methods are proposed and studied via theoretical analysis and experimental verifications in this paper. First, we show the design of the swirl gripper and briefly illustrate the mechanism by which it forms a negative pressure to create a lifting force. Then, we experimentally investigate the characteristics of the pressure distribution. Furthermore, we conduct a theoretical analysis of the pressure distribution and propose two methods for estimating the lifting force: one based on the rotation speed and a single pressure point (the ω–P method) and the other based on two pressure points (the P–P method). Then, we verify the proposed methods via a force measurement experiment. We find that the ω–P method causes considerable deviations in the calculated pressure distribution around the gap entrance of the swirl gripper, because of which the estimated force is smaller than the actual one. In contrast, we find that the P–P method can compensate for the error by directly detecting the pressure at the gap entrance with another pressure sensor. Our results show that the P–P method markedly improves the accuracy of estimating the lifting force as compared to the ω–P method. Finally, for the purpose of further improving the estimation accuracy, we increase the number of pressure points to estimate lifting force. It is made clear that the estimation accuracy is improved, and the effect is part- cularly significant for the P–P method.
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    Human Hand Motion Analysis With Multisensory Information (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: In order to study and analyze human hand motions that contain multimodal information, a generalized framework integrating multiple sensors is proposed and consists of modules of sensor integration, signal preprocessing, correlation study of sensory information, and motion identification. Three types of sensors are integrated to simultaneously capture the finger angle trajectories, the hand contact forces, and the forearm electromyography (EMG) signals. To facilitate the rapid acquisition of human hand tasks, methods to automatically synchronize and segment manipulation primitives are developed in the signal preprocessing module. Correlations of the sensory information are studied by using Empirical Copula and demonstrate that there exist significant relationships between muscle signals and finger trajectories and between muscle signals and contact forces. In addition, recognizing different hand grasps and manipulations based on the EMG signals is investigated by using Fuzzy Gaussian Mixture Models (FGMMs) and results of comparative experiments show FGMMs outperform Gaussian Mixture Models and support vector machine with a higher recognition rate. The proposed framework integrating the state-of-the-art sensor technology with the developed algorithms provides researchers a versatile and adaptable platform for human hand motion analysis and has potential applications especially in robotic hand or prosthetic hand control and human–computer interaction.
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    Design and Implementation of Model-Predictive Control With Friction Compensation on an Omnidirectional Mobile Robot (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: This paper presents and discusses the implementation results of a model-predictive control (MPC) scheme with friction compensation applied to trajectory following of an omnidirectional three-wheeled robot. A cascade structure is used with an inverse kinematics block to generate the velocity references given to the predictive controller. Part of the control effort is used to compensate for the effects of static friction, allowing the use of efficient algorithms for linear MPC with constraints. Experimental results show that the proposed strategy is efficient in compensating for frictional effects as well as for tracking predefined trajectories.
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  • 89
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    Real-Time Estimation of Rollover Index for Tripped Rollovers With a Novel Unknown Input Nonlinear Observer (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: Accurate detection of the danger of an impending rollover is necessary for active vehicle rollover prevention systems. A real-time rollover index is an indicator used for this purpose. A traditional rollover index detects only untripped rollovers that happen due to high lateral acceleration from a sharp turn. It fails to detect tripped rollovers that happen due to tripping from external inputs such as forces when a vehicle strikes a curb or a road bump. Therefore, this paper develops a novel new rollover index that can detect both tripped and untripped rollovers. A methodology is developed for estimation of unknown inputs in a class of nonlinear systems. The methodology is based on the nonlinear observer design and dynamic model inversion to compute the unknown inputs from output measurements. The observer design utilizes the mean value theorem to express the nonlinear estimation error dynamics as a convex combination of known matrices with time-varying coefficients. The observer gains are then obtained by solving linear matrix inequalities. The developed approach can enable observer design for a large class of differentiable nonlinear systems with a globally (or locally) bounded Jacobian. The developed nonlinear observer is then applied for rollover index estimation. The developed rollover index is also evaluated through simulations with an industry standard software, CARSIM, and with experimental tests on a 1/8th scaled vehicle. In order to verify that the scaled vehicle experiments can represent a full-sized vehicle, the Buckingham π theorem is used to show dynamic similarity. The simulation and experimental results show that the developed nonlinear observer can reliably estimate vehicle states, unknown normal tire forces, and rollover index for predicting both untripped and tripped rollovers.
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    A Force and Displacement Self-Sensing Piezoelectric MRI-Compatible Tweezer End Effector With an On-Site Calibration Procedure (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: This paper describes a self-sensing technique for a piezoelectrically driven magnetic resonance imaging (MRI)-compatible tweezer style end effector, suitable for robot assisted MRI guided surgery. Nested strain amplification mechanisms are used to amplify the displacement of the piezo actuators to practical levels for robotics. By using a hysteretic piezoelectric model and a two port network model for the compliant nested strain amplifiers, it is shown that force and displacement at the tweezer tip can be estimated if the input voltage and charge are measured. One piezo unit is used simultaneously as a sensor and an actuator, preserving the full actuation capability of the device. An on-site calibration procedure is proposed that calibrates the combined electromechanical model without requiring specific loading conditions on the inner piezoelectric actuators. Experimental validation shows an average of 12% error between the self-sensed and true values.
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    Design and Experimental Evaluations on Energy Efficient Control Allocation Methods for Overactuated Electric Vehicles: Longitudinal Motion Case (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: The energy-efficient control allocation (EECA) scheme was previously proposed to distribute control efforts for overactuated systems by explicitly incorporating efficiency functions and working modes of redundant actuators. In this paper, three different real-time EECA schemes, namely adaptive EECA (A-EECA), KKT-based, and rule-based EECA, are proposed and compared for longitudinal speed tracking control of an electric ground vehicle (EGV) with two pairs of in-wheel motors. Two additional power resistor packs inserted in the dc circuits are applied to modify the operating efficiencies of two rear in-wheel motors, which are calibrated for experimental validations of the three EECA designs on a prototype EGV. In terms of the vehicle speed tracking performances, actuator dynamic responses, and total energy consumptions, both simulation and experimental results are evaluated and compared for the three distinct EECA methods. For the same EGV speed tracking effects, both simulation and experimental results indicate different power consumption savings are achieved by three EECA designs with different dynamic responses.
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  • 92
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    Comparing Approaches for Actuator Redundancy Resolution in Biarticularly-Actuated Robot Arms (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: Biarticular actuators—actuators spanning two joints—play a fundamental role in robot arm designs based on the human musculoskeletal actuation structure. Unlike kinematic redundancy, actuator redundancy resulting from biarticular actuation brings advantages such as increased stability, reduced link inertia, and decreased nonlinearity of the end-effector force with respect to the force direction. The way the actuator redundancy is resolved is a fundamental problem, as it strongly characterizes robot arms performance. In this study, the six most significant actuation redundancy resolution approaches in the literature—1-norm, 2-norm, infinity-norm, phase different control (PDC), nonlinear hase different control (NLPDC), and linear programming (LP)—are analyzed with respect to their design, and experimentally compared with each other using BiWi, a biarticularly actuated and wire-driven robot arm. In addition, an integrated control framework to resolve actuator redundancy maximizing end-effector force and simultaneously minimizing the necessary input torques is proposed.
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    Quattroped: A Leg--Wheel Transformable Robot (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: This paper reports on the design, integration, and performance evaluation of a novel four-leg/four-wheel transformable mobile robot, Quattroped. In contrast to most hybrid platforms that have separate mechanisms and actuators for wheels and legs, this robot is implemented with a unique transformation mechanism that directly switches the morphology of the driving mechanism between the wheels (i.e., a full circle) and 2 degrees of freedom leg (i.e., combining two half circles as a leg), so that the same system of actuation power can be efficiently utilized in both wheeled and legged modes. The design process, mechatronics, software infrastructure, behavioral development, and leg–wheel dynamic characteristics are described. The performance of the robot is evaluated in various scenarios, including driving and turning in wheeled mode, driving, step and bar crossing, irregular terrain passing, and stair climbing in legged mode. Taking advantage of the leg–wheel combination on a single platform, the comparison of the wheeled and legged locomotion is also discussed.
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    Safety-Function Design for the Control System of a Human-Cooperative Robot Based on Functional Safety of Hardware and Software (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: Human-cooperative robots (HCRs) are expected to benefit various fields. Safety functions are essential to the control system of HCRs because their hazardous movements after a system failure may cause serious injuries to operators. Therefore, their reliability must be sufficiently high relative to the estimated risk, and it is important to design a suitable safety function for the control system to match the safety level required for an HCR. We propose a methodology of safety-function design for the control system of an HCR and attempt to effectively combine design approaches for hardware and software of safety-related systems (SRSs) on the basis of the concept of functional safety. This study describes the details of the methodology for an HCR that we adopted as a platform system. First, SRS hardware with a dual-channel voting architecture was designed, and then, functional safety analysis was performed to verify whether the hardware satisfied the required safety integrity level (SIL). Next, SRS software with diverse programming, which is recommended for the required SIL, was designed by utilizing a disturbance observer. Finally, experiments were conducted on the SRS for representative failures and the safety function was verified for the control system, as set by the proposed methodology.
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    A Validated Feasibility Prototype for AUV Reconfigurable Magnetic Coupling Thruster (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: This paper presents the concept and design of a new reconfigurable magnetic-coupling thruster (RMCT). Mechanical models, as well as digital and real-world experiments, are proposed to understand the fundamental aspects of such technology. The principle of RMCT is to reorient the propeller, and therefore the thrust vector, to the desired direction without adding or moving any motors. The focus of this study is to propose a new design to solve the problems raised in a previous work on RMCT and to understand how the transmitted coupling torque behaves with regard to the new kinematics of the propeller shaft. After introducing the models underlying this thruster design, we build a numerical simulation and validate it through experimental results. The performance of this design is then discussed based on open-loop trials and its potential integration and control. The conclusion proposes guidelines for developing an underwater prototype that will be designed and tested on real autonomous underwater vehicles.
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    Dynamic Characteristics of Pressure Compensator in Underwater Hydraulic System (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: A pressure compensator for an underwater hydraulic system is studied in this paper. The compensator is used to maintain the tank pressure of the underwater hydraulic system so that it is slightly greater than the ambient pressure, allowing the system to work at any depth. The dynamic characteristics of the pressure compensator are studied using theoretical analysis, simulation and experiment. The tank pressure changes due to the step flow to the tank coming from the motion of a piston in a single-rod cylinder. This flow is caused by the unequal areas of the piston. The tank pressure change can be mathematically determined. A design procedure focusing on the dynamic characteristics of the pressure compensator is given. A compensator and underwater hydraulic system were built and the dynamic characteristics of the compensator were tested. Both simulation and experimental results conform to the analysis. The study provides a theoretical way to determine the dynamic characteristics of a pressure compensator in an underwater hydraulic system.
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    IEEE Xplore Digital Library (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
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    Two ways to Access the IEEE Member Digital Library (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
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    Sliding-Mode Tracking Control With DNLRX Model-Based Friction Compensation for the Precision Stage (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
    Description: This paper concerns the development of a sliding-mode tracking controller with friction compensation for a precision positioning stage with cross-roller guides. Experiments including prerolling and rolling friction regimes are conducted, and then a two-stage parameter estimation algorithm is used to identify the parameters of a friction dynamic model (Dynamic NonLinear Regression with direct application of eXcitation, DNLRX, model). This model allows the estimation of the friction force in combination with the system dynamics against displacement, and can be used as a feed-forward controller to compensate for the friction effect. To compensate for model error and uncertain disturbances, an integral sliding-mode controller with a disturbance estimation scheme is designed and combined with the DNLRX feed-forward controller to control the motion of a precision stage. Experimental results show that with the proposed controller, tracking performance can be improved.
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    IEEE Global History Network (2014)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2014-02-22
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