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  • Articles  (1,595)
  • IEEE/ASME Transactions on Mechatronics  (1,595)
  • 1417
  • Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics  (1,595)
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  • Articles  (1,595)
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  • 1
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    Enhanced Performance of Li-Ion Batteries via Modified Reference Governors and Electrochemical Models (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This paper examines reference governor (RG) methods for satisfying state constraints in Li-ion batteries. Mathematically, these constraints are formulated from a first principles electrochemical model. Consequently, the constraints explicitly model specific degradation mechanisms, such as lithium plating, lithium depletion, and overheating. This contrasts with the present paradigm of limiting measured voltage, current, and/or temperature. The critical challenges, however, are that: 1) the electrochemical states evolve according to a system of nonlinear partial differential equations, and 2) the states are not physically measurable. Assuming available state and parameter estimates, this paper develops RGs for electrochemical battery models. The results demonstrate how electrochemical model state information can be utilized to ensure safe operation, while simultaneously enhancing energy capacity, power, and charge speeds in Li-ion batteries.
    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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    Suitability of Small-Scale Magnetorheological Fluid-Based Clutches in Haptic Interfaces for Improved Performance (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: Haptic information provides important cues in teleoperated systems. It enables the user to feel the interaction with a remote or virtual environment during teleoperation. The two main objectives in designing a haptic interface are stability and transparency. An actuator with poor dynamics, high inertia, large size, and heavy weight can significantly undermine these goals. In this article, the potential benefits of magnetorheological fluid (MRF)-based actuators to the field of haptics are discussed. Devices developed with such fluids are known to possess superior mechanical characteristics over conventional servo systems. These characteristics significantly contribute to improved stability and transparency of haptic devices. In this study, this idea is evaluated from both theoretical and experimental points of view. First, the properties of such actuators which motivated this research are discussed. Next, two single degree-of-freedom (DOF) haptic interfaces, one with an MRF-based clutch and the other with a brushless DC motor, are compared in a virtual wall experiment in order to show the superiority of the MRF-based clutch. In addition, the design of a small-scale MRF-based clutch, suitable for a multi-DOF haptic interface, is discussed and its torque capacity, inertia, and mass are compared with conventional servo systems. Conclusions drawn from this investigation indicate that MRF-based actuation approaches can indeed be developed to design haptic interfaces with improved stability and transparency.
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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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  • 3
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    θ- D Approximation Technique for Nonlinear Optimal Speed Control Design of Surface-Mounted PMSM Drives (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This paper proposes nonlinear optimal controller and observer schemes based on a θ- D approximation approach for surface-mounted permanent magnet synchronous motors (PMSMs). By applying the θ- D method in both the controller and observer designs, the unsolvable Hamilton–Jacobi–Bellman equations are switched to an algebraic Riccati equation and state-dependent Lyapunov equations (SDLEs). Then, through selecting the suitable coefficient matrices, the SDLEs become algebraic, so the complex matrix operation technique, i.e., the Kronecker product applied in the previous papers to solve the SDLEs is eliminated. Moreover, the proposed technique not only solves the problem of controlling the large initial states, but also avoids the excessive online computations. By utilizing a more accurate approximation method, the proposed control system achieves superior control performance (e.g., faster transient response, more robustness under the parameter uncertainties and load torque variations) compared to the state-dependent Riccati equation-based control method and conventional PI control method. The proposed observer-based control methodology is tested with an experimental setup of a PMSM servo drive using a Texas Instruments TMS320F28335 DSP. Finally, the experimental results are shown for proving the effectiveness of the proposed control approach.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 4
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    A Low-Cost Real-Time Research Platform for EMG Pattern Recognition-Based Prosthetic Hand (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: The focus of this paper is the development of a low-cost research platform for a surface electromyogram (EMG)-based prosthetic hand control to evaluate various pattern recognition techniques and to study the real-time implementation. This comprehensible research platform may enlighten the biomedical research in developing countries for analyzing and evaluating the surface EMG signals. Major challenges in this work were as follows: the design and development of an EMG signal conditioning module, a pattern recognition module, and a prosthetic hand at low cost. Besides, EMG pattern recognition techniques were evaluated for identifying six hand motions in offline with signals acquired from ten healthy subjects and two transradial amputees. Features calculated from EMG signals were grouped into six ensembles to apprehend the vitality of the ensemble in classifiers namely simple logistic regression (SLR), J48 algorithm for decision tree, logistic model tree, neural network, linear discriminant analysis, and support vector machine. The classification performance was also evaluated with the prolonged EMG data recorded on a day at every 1 h interval to study the robustness of the classifier. The results show the average classification accuracy, processing time and memory requirement of the SLR was found to be better and robust with time-domain features consisting of statistical as well as autoregression coefficients. The statistical analysis of variance test also showed that computation time and memory space required for SLR were significantly less compared to the other classifiers. The performance of the classifier was tested in online with transradial amputee for actuation of prosthetic hand for two intended motions with a TMS320F28335 controller. This proposed research platform for evaluation of EMG pattern recognition and real-time implementation has been achieved at a cost of 25 000 Indian rupee (INR).
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 5
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    An Automated Traction Measurement Platform and Empirical Model for Evaluation of Rolling Micropatterned Wheels (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: Colonoscopy is the leading preventative procedure for colorectal cancer. The traditional tool used for this procedure is an endoscope, which can cause patient discomfort, pain and fear of the procedure. There has been a movement to develop a robotic capsule colonoscope (RCC) in an attempt to mitigate these drawbacks and increase procedure popularity. An RCC is a capsule robot that propels itself through the colon as opposed to being pushed, like a traditional endoscope. In this study, an overview of an in vivo RCC is given, followed by the introduction of a mobility method for an RCC using micropatterned polydimethylsiloxane (PDMS). The design of a three degree-of-freedom automated traction measurement (ATM) platform for quantitative evaluation of the mobility method is presented. An empirical model for traction force as a function of slip ratio, robot speed, and weight for micropatterned PDMS on synthetic tissue is developed using data collected from the ATM platform. The model is then used to predict traction force at different slip ratios, speeds, and weights, and is verified experimentally. The average normalized root-mean-square error (NRMSE) between the empirical model and the data used to develop the model is 1.1% (min 0.0024%, max 4.2%). The average NRMSE between the traction force predicted by the model and the data used to verify the prediction is 1.8% (min 0.020%, max 8.6%). Understanding how model parameters influence tread performance will improve future RCC mobility systems and aid in the development of analytical models, leading to more optimal designs.
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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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  • 6
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    Magnetic Characterization of Actuators for an Unmanned Aerial Vehicle (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: A dipole equivalent modeling approach and experimental results, for relatively small magnetic sources such as servomotors, are presented. Two modeling schemes, viz. the dual permanent magnetic dipole (DuPMaD) and the permanent magnetic dipole (PMaD), are proposed. PMaD assumes only one equivalent magnetic dipole within the physical dimension of the source component, whereas DuPMaD employs a second magnetic dipole with a view to characterize the field more accurately. The equivalent dipole moment vectors and their positions are estimated via fitting experimental data collected on three orthogonal planes around the specimen. Results show good agreements between the model outputs and the experimental data, with both the DuPMaD and the PMaD schemes performing closely in terms of modeling accuracy. Such models may be used to estimate and minimize magnetic interference in various applications such as in geomagnetic surveying using unmanned aerial vehicles considered in this paper.
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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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  • 7
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    Proxy-Based Sliding-Mode Tracking Control of Piezoelectric-Actuated Nanopositioning Stages (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: In this paper, a proxy-based sliding-mode control (PBSMC) approach is proposed for robust tracking control of a piezoelectric-actuated nanopositioning stage composed of piezoelectric stack actuators and compliant flexure mechanisms. The essential feature of the PBSMC approach is the introduction of a virtual coupling proxy, which is controlled by the sliding-mode controller (SMC) to track the desired position. Simultaneously, due to the virtual coupling, a proportional-integral-derivative (PID) controller on the other side of the proxy ensures the position of the end-effector of the stage to follow the position of the proxy. Therefore, the PBSMC guarantees the end-effector to track the desired trajectory. The advantages of the developed PBSMC lie in the facts that 1) the discontinuous signum function in the traditional SMC is omitted without any approximation. Hence, the output of the PBSMC is continuous, which does not suffer from the chattering phenomenon; and 2) the PBSMC laws are developed without having the necessity to include the nominal system model, hysteresis model or the state observer. Hence, the PBSMC provides a novel effective yet simple control method, which permits to avoid the lack of performances from PID and the chattering from SMC, and permits to combine the advantages from them. The stability of the closed-loop control system is proved through Lyapunov analysis. Finally, comparative studies are performed on a custom-built piezo-actuated stage. Experimental results show that the tracking errors of the PBCM are reduced by 74.22%, as compared to the traditional PID controller, with the desired sinusoidal trajectory under the 50-Hz input frequency, which clearly demonstrates the superior tracking performance of the PBSMC.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 8
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    Analysis and Design of a Reconfigurable 3-DoF Parallel Manipulator for Multimodal Tasks (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This paper presents the design of a reconfigurable 3-DoF parallel kinematics manipulator. The main feature of the device is the ability to change the mobility of its moving platform from pure translation to pure rotation. The manipulator kinematics is conceived so that, when a particular configuration of the manipulator is reached, the transition between the two working modes is possible by changing the configuration of a metamorphic universal joint, which is used to connect the legs of the manipulator with the moving platform. The mechanical design of the joint, which is in fact a lockable spherical joint, is illustrated. With the joint integrated into the robot architecture, an instantaneous overconstrained kinematics is exploited to manage the phase of reconfiguration of the whole mechatronic device. A kineto-static analysis provides information about the influence of geometric parameters on its functional design. The manipulator shows simple kinematics and statics models, as well as good kinematic and static performances. Eventually, the versatility of the manipulator is shown by proposing some advanced manufacturing applications in which it could find use.
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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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  • 9
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    Driver Steering Override for Lane-Keeping Aid Using Computer-Aided Engineering (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: The decreasing cost of radar and camera sensory technology has established advanced driver assistance systems (ADAS) to the standard equipment of modern vehicles. ADAS employ semi-autonomous interventions in longitudinal (e.g., adaptive cruise control, ACC) and lateral (e.g., lane-keeping aid, LKA) direction. ACC and LKA constitute the milestones of ADAS technology and have shown to correspondingly reduce driving effort and unintended lane-drifts. ADAS and driver share the vehicle control; this in-turn creates a nonfinite number of test cases that have to be tested-verified so-as to enable safe software (SW) release. Adjacent to ADAS, vehicle dynamics-related systems, such as the antilock braking system and the dynamic-stability and traction control, have also to undergo through an exhaustive SW verification. Distilling the previous statements, this paper cultivates the concept of virtual SW verification by evaluating Volvo's production and a concept driver steering override (DSO) for LKA systems. The DSO concept addresses the driver's interaction with the LKA system and adapts the intervention level. The driver's activation is quantified though the steering torque and road/vehicle information. Two different test-runs per DSO strategy are presented and the real-car (physical) testing results are reproduced in simulation. Both the real and postprocessed simulation results show: 1) the importance of the override strategy on the LKA benefits; and 2) the importance of computer-aided engineering for studying/designing ADAS.
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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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    Functional and Cost-Based Automatic Generator for Hybrid Vehicles Topologies (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: The energy efficiency of a hybrid electric vehicle is dictated by the topology (coupling option of power sources/sinks), choice (technology), and control of components. The first design area among these, the topology, has the biggest flexibility of them all, yet, so far in the literature, the topology design is limited investigated due to its high complexity. In practice, a predefined small set of topologies is used to optimize their energy efficiency by varying the power specifications of the main components (sizing). By doing so, the complete design of the vehicle is, inherently and to a certain extent, suboptimal. Moreover, various complex topologies appear on the automotive market and no tool exists to optimally choose or evaluate them. To overcome this design limitation, in this paper, a novel framework is presented that deals with the automatic generation of possible topologies given a set of components (e.g., engine, electric machine, batteries, or transmission elements). This paper uses a platform (library of components) and a hybrid knowledge base (functional and cost-based principles) to set up a constraint logic programming problem, and outputs a set of feasible topologies for hybrid electric vehicles. These are all possible topologies that could be built considering a fixed, yet large, set of components. Then, by using these results, insights are given on what construction principles are mostly critical for simulations time, and what topologies could be selected as candidate topologies for sizing and control studies. Such a framework can be used for any powertrain application; it can offer the topologies to be investigated in the design phase and can provide insightful results for optimal design analyses.
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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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    Accurate Dynamic Modeling of Helical Ionic Polymer-Metal Composite Actuator Based on Intrinsic Equations (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This paper presents dynamic modeling of an innovative contractible ionic polymer-metal composites (IPMC) actuator with a helical configuration. The helical shaped IPMC actuator is fabricated through the thermal treatment of an IPMC strip, which is helically coiled on a glass rod. This type of a soft actuator can be used to realize not only bending motion but also torsional and longitudinal motion. For the first time, an explicit analytical expression is developed for the computation of mode shapes and dynamic responses of a helical IPMC actuator based on the intrinsic equations of the naturally curved and twisted beam. The numerical transfer-matrix method is used to solve the systems of 12 linear ordinary differential equations with boundary conditions. In particular, the effect of the structural parameters on the performance of the helical IPMC actuator is evaluated, using experimental results and an analytical model. The validation of the proposed model is achieved through comparison with computational results using a commercial finite-element (FE) program as well as experimental results. The present experimental and theoretical results show that diameter, among the structural parameters, plays an important role in the actuation performance of a helical IPMC actuator. The proposed modeling is general and can also be used in solving other cylindrical or noncylindrical helical IPMC actuators with different cross-sectional shapes as well as various end conditions.
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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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  • 12
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    GA-Optimized Fuzzy-Feedforward-Bias Control of Motion by a Rugged Electrohydraulic System (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: An electrohydraulic system with a proportional valve and industry-grade cylinder has been used to target the servoclass tracking performance. Such systems have a wide range of heavy-duty applications, where the environment could be quite dirty along with the demands becoming faster and more precise every day. High static friction in the cylinder and large deadband of the valve in the system pose control challenges that are more severe than in a system with a servovalve and a low-friction cylinder. A fuzzy-feedforward-bias controller has been developed and a genetic algorithm has been used to optimize the controller parameters. The real-time control experiments revealed excellent tracking throughout the cycle for sinusoidal displacements beyond 1.5 Hz.
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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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    Design and Control of a Biomimetic Robotic Rat for Interaction With Laboratory Rats (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: In this paper, we describe the system design and control of a miniature robotic rat, WR-5, which is intended to interact with laboratory rats. WR-5 can perform rearing, mounting, rotating, and body-grooming actions as naturally as live mature rats because of its multilink structure. Experimental results confirm that WR-5 can stimulate stressing fear in rats by performing a mounting action, which shows remarkable progress when compared with the previous generation of these robots. Additionally, a virtual impedance model-based control method is used to generate both posture and trajectory for WR-5. The results of simulations and following tests with real rats show that WR-5 can adjust its head and body positioning to follow a target rat in real time. The control system simultaneously allows real-time avoidance of moving outside observers during the following test. Additionally, based on interaction with multiple rats, we conclude that the robotic rat shows great promise for manipulation of the sociality of rats.
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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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  • 14
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    Hybrid Positive Feedback Control for Active Vibration Attenuation of Flexible Structures (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: A new controller is introduced in this paper as a novel method for active vibration suppression in flexible structures. The hybrid positive feedback (HPF) uses a second- and a first-order compensator that are fed by the displacement and velocity feedbacks, respectively. Parallel pairs of the HPF controller are implemented when suppression in multimode condition is issued. Since the controller uses two gains for each pair of the actuator/sensor patch for each mode, a suitable gain optimization method has to be used to ensure the optimum performance. To this end, ${cal H}_2$ and ${cal H}_{infty}$ optimization approaches are utilized. For validation purposes, the controller is verified numerically and experimentally for vibration control of a cantilever beam. System identification is performed, then closed-loop system responses to simultaneous multimode and swept frequency excitations are obtained. According to the results, the HPF controller has a superior performance compared to the conventional method of positive position feedback. Vibration displacement amplitudes were reduced by more than 85% relative to the uncontrolled state. The best performance was achieved by the ${cal H}_2$ -optimized HPF, as the net value for vibration displacement amplitude reduction in the multimode condition was 90% of the uncontrolled amplitude.
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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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  • 15
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    Nonlinear Adaptive Output-Feedback Controller Design for Guidance of Flexible Needles (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: In this paper, a control methodology is proposed for guiding and stabilizing flexible bevel-tip needles to an arbitrary planar slice. The proposed controller is an adaptive version of the previously proposed nonlinear output feedback controller, which was built upon the well-known nonholonomic kinematic model of needle steering. On the grounds that such a model is subject to parametric uncertainty, an adaptive controller is necessary for adjusting the model parameters. In addition, a nonlinear observer is required due to the existence of some unmeasurable state variables. Although the original form of the studied system is linearly parameterized, its canonical form is not, preventing the application of conventional adaptive control schemes. In this paper, a nonlinear adaptive control methodology is proposed and applied to the guidance problem of steerable needles. Through simulation results, it is illustrated that the proposed methodology greatly outperforms the existing feedback linearization-based approach.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 16
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    Single-Track Vehicle Dynamics Control: State of the Art and Perspective (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: The reduction of hardware costs and the availability of smaller, lighter electromechanical actuators have led to the development of numerous control systems for powered two wheelers (PTW). Although the community working on PTW dynamics control is smaller than the community addressing automotive control, a considerable number of contributions are available. This paper presents a review on the control of PTW, and anticipates future research and industrial trends. This paper proposes a reasoned classification of different approaches based on the controlled vehicle dynamics, separating between control systems dealing with the in-plane and out-of-plane dynamics and then presents an analysis of the state-of-the-art of each control problem. A section is then devoted to the control of narrow track tilting vehicles that share many features with PTW.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 17
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    Guest Editorial Introduction to the Focused Section on Mechatronics in Automotive Systems (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: The papers in this special section compiles recent research and development efforts contributing to advances in mechatronics for automotive systems, as well as the perspectives on future developments and applications.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 18
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    A Unified Pseudospectral Computational Framework for Optimal Control of Road Vehicles (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This paper presents a unified pseudospectral computational framework for accurately and efficiently solving optimal control problems (OCPs) of road vehicles. Under this framework, any continuous-time OCP is converted into a nonlinear programming (NLP) problem via pseudospectral transformation, in which both states and controls are approximated by global Lagrange interpolating polynomials at Legendre–Gauss–Lobatto (LGL) collocation points. The mapping relationship between the costates of OCP and the KKT multipliers of NLP is derived for checking the optimality of solutions. For the sake of engineering practice, a quasi-Newton iterative algorithm is integrated to accurately calculate the LGL points, and a multiphase preprocessing strategy is proposed to handle nonsmooth problems. A general solver called pseudospectral OCP solver (POPS) is developed in MATLAB environment to implement the computational framework. Finally, two classic vehicle automation problems are formulated and numerically solved by POPS: 1) optimization of ecodriving strategy in hilly road conditions; and 2) optimal path planning in an overtaking scenario. The comparison with an equally spaced direct method is presented to show the effectiveness of this unified framework.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 19
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    Nonlinear Observer Design of Diesel Engine Selective Catalytic Reduction Systems With $hbox{NO}_{x}$ Sensor Measurements (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: In this paper, we investigate the observer design problem of diesel engine selective catalytic reduction (SCR) systems. Considering the main chemical reactions, the SCR systems are modeled by assuming that the states are homogenous inside and SCR cells as continuous stirred tank reactors. The obtained system model is nonlinear and the states are coupled. Since the ammonia coverage ratio is not measurable by a physical sensor and the ammonia sensor is relatively costly, $hbox{NO}_{x}$ sensors are used to estimate the system states. The observability of the system is analyzed under the framework of the linear parameter-varying (LPV) system via transforming the nonlinear SCR system into a quasi-LPV form. A nonlinear observer is proposed and the method of tuning the observer gains is developed. The stability of the estimation error system is guaranteed with the designed observer gains. Finally, an experimental test with various operating points is conducted to show the effectiveness of the designed observer. It infers from the results that the designed observer has a good performance and the states are estimated well.
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    An Alternative Method to MFB50 for Combustion Phase Detection and Control in Common Rail Diesel Engines (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: Although injection timing does not change at every cycle in compression ignition engines, the variations in combustion phase may occur. The variations in combustion phase are directly related to emission dispersion, torque variation, and fuel economy; therefore, the variations should be minimized by combustion phase detection and control. In this study, we propose a novel combustion indicator: location of 20% of initial heat release after the peak (IHR ap20 ) that is an alternative to MFB50 to detect and control combustion phase in real time. IHR ap20 is extracted from IHR, which is a simplified heat release model derived by the product of in-cylinder volume and the gradient of difference pressure between firing pressure and motoring pressure. IHR ap20 is confirmed with engine experiment that it is highly correlated to MFB50 with RMSE of 0.2790° crank angle and R 2 of 0.9873 under various operating conditions such as injection timing, mass air flow, boost pressure, and rail pressure changes. In addition, IHR ap20 is able to detect combustion phase in real time with fewer number of in-cylinder pressure data and computational load compared to MFB50. Furthermore, IHR ap20 is more robust to in-cylinder pressure sensor noise than MFB50. Consequently, IHR ap20 is promising for real-time combustion phase detection.
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    Active Braking Control System Design: The D $^{bf 2}$ -IBC Approach (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: In modern road vehicles, active braking control systems are crucial elements to ensure safety and lateral stability. Unfortunately, the wheel slip dynamics is highly nonlinear, and the online estimation of the road–tire conditions is still a challenging open-research problem. These facts make it difficult to devise a braking control system that is reliable in any possible situation without being too conservative. In this paper, we propose the data-driven inversion-based control approach to overcome the above issues. The method relies on a 2-DOF architecture, with a linear controller and a nonlinear controller in parallel, both designed using only experimental data. The effectiveness of the proposed approach against state-of-the-art braking control is shown by means of an extensive simulation campaign. A validation test on a commercial full-fledged multibody simulator for two-wheeled vehicles is also provided.
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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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    Novel Cooperative Teleoperation Framework: Multi-Master/Single-Slave System (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: In this paper, a novel multi-master/single-slave (MM/SS) teleoperated framework is proposed. The desired objectives for the MM/SS system are presented in such a way that both cooperative and training applications, e.g., surgical teleoperation and surgical training, can benefit. Passivity of the system is investigated, and it is shown that an ideal MM/SS system, depending on its structure, may not always be passive unlike a conventional SM/SS system. An impedance-based control methodology is developed to satisfy the desired objectives of the MM/SS system in the presence of communication delays. The small-gain theorem is used to analyze the closed-loop stability, deriving a sufficient condition to guarantee system stability in the presence of time delays. Experimental results conducted on an MM/SS system are presented to evaluate the performance of the proposed methodology.
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    Design of LLC Resonant Converters Based on Operation-Mode Analysis for Level Two PHEV Battery Chargers (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: In this paper, the efficiency-oriented design considerations are discussed based on the operation-mode analysis of the LLC converter considering the characteristics of charging profiles. The mode boundaries and distribution are obtained from the precise time-domain model. The operation modes featuring both-side soft-switching capability are identified to design the operating trace of the charging process. Then the design constraints for achieving soft switching with the load varying from zero up to the maximum are discussed. Finally, a charging trajectory design methodology is proposed and validated through experiments on a prototype converting 390 V from the dc power source to the battery emulator in the range of 250–450 V at 6.6 kW with a peak efficiency of 97.96%.
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    Variable Stiffness Treadmill (VST): System Development, Characterization, and Preliminary Experiments (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: Locomotion is one of the human's most important functions that serve survival, progress, and interaction. Gait requires kinematic and dynamic coordination of the limbs and muscles, multisensory fusion, and robust control mechanisms. The force stimulus generated by the interaction of the foot with the walking surface is a vital part of human gait. Although there have been many studies trying to decipher the load feedback mechanisms of gait, there is a need for the development of a versatile system that can advance research and provide new functionality. In this paper, we present the design and characterization of a novel system, called variable stiffness treadmill (VST). The device is capable of controlling load feedback stimulus by regulating the walking surface stiffness in real time. The high range of available stiffness, the resolution and accuracy of the device, as well as the ability to regulate stiffness within the stance phase of walking, are some of the unique characteristics of the VST. We present experiments with healthy subjects in order to prove the concept of our device and show preliminary findings on the effect of altered stiffness on gait kinematics. The developed system constitutes a uniquely useful research tool, which can improve our understanding of gait and create new avenues of research on gait analysis and rehabilitation.
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    Dynamics and Robust Control of an Underactuated Torsional Vibratory Gyroscope Actuated by Electrostatic Actuator (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: It has been shown that the underactuated MEMS gyroscopes provide inherent robustness against structural and environmental parameter variations. To further improve the performance of the systems, the electrical and mechanical coupling dynamics of the underactuated torsional gyroscopes with double oscillators actuated by a single electrostatic actuator is investigated in this paper. It is shown that the highly nonlinear coupling dynamics of the underactuated gyroscope systems can be transformed into the fifth-order linear systems even though the electrical uncertainties of the systems are considered. For the purpose of simplifying the structures of the underactuated torsional MEMS gyroscopes, an observer-based robust controller with considering structural uncertainties is presented on the basis of linear matrix inequalities (LMIs). The robust stability of the presented controller is also demonstrated by some numerical simulations on a three-degree-of-freedom underactuated MEMS gyroscope. It is shown that the LMI-based robust controller can accommodate both large initial errors in the system state and bounded uncertainties in the structural parameters of the system.
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    Robust Motion Control of a Linear Motor Positioner Using Fast Nonsingular Terminal Sliding Mode (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: A robust motion control system is essential for the linear motor (LM)-based direct drive to provide high speed and high-precision performance. This paper studies a systematic control design method using fast nonsingular terminal sliding mode (FNTSM) for an LM positioner. Compared with the conventional nonsingular terminal sliding mode control, the FNTSM control can guarantee a faster convergence rate of the tracking error in the presence of system uncertainties including payload variations, friction, external disturbances, and measurement noises. Moreover, its control input is inherently continuous, which accordingly avoids the undesired control chattering problem. We further discuss the selection criteria of the controller parameters for the LM to deal with the system dynamic constraints and performance tradeoffs. Finally, we present a robust model-free velocity estimator based on the only available position measurements with quantization noises such that the estimated velocity can be used for feedback signal to the FNTSM controller. Experimental results demonstrate the practical implementation of the FNTSM controller and verify its robustness of more accurate tracking and faster disturbance rejection compared with a conventional NTSM controller and a linear $H_infty$ controller.
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    A Novel Electromagnetic Actuator Based on Displacement Amplification Mechanism (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This paper introduces a new type of linear actuator using the electromagnetic attractive force, which enables a submillimeter stroke. In general, actuation by the electromagnetic attractive force causes a tradeoff problem between the thrust force and the stroke because the thrust force depends on the gap between the electromagnet and the armature; an increase in the gap (stroke) drastically degrades the thrust force. To realize a submillimeter stroke while retaining a high thrust force, a structure that adopts a displacement amplification mechanism is proposed, which is often used to expand the stroke of a piezoelectric actuator. First, the electromagnetic attractive force is theoretically examined with and without displacement amplification. We verify that displacement amplification could create a higher thrust force and energy efficiency over a certain displacement. On the basis of this examination, a prototype actuator is designed, and the driving principle is illustrated. Further, an analytical model of the proposed actuator is developed for control and performance estimation. Several fundamental experiments with a developed actuator are performed in order to reveal the potential of the proposed actuator. The performance evaluations show that the maximum stroke is approximately 450 $mu$ m and a bandwidth greater than 300 Hz can be realized, and more a time constant is approximately 2 ms for a stroke of 450 $mu$ m. In addition, the experimental results were compared with the simulation results calculated from the analytical model to verify whether the prototype drives predictably according to the proposed concept under a dynamic situation. These results demonstrate that the proposed actuator enables good actuation performance, and it implies that there are tremendous advantages from the viewpoints of manufacturing, assembly, control, etc.
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    An Automated Mouse Tail Vascular Access System by Vision and Pressure Feedback (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This paper develops an automated vascular access system (A-VAS) with novel vision-based vein and needle detection methods and real-time pressure feedback for murine drug delivery. Mouse tail vein injection is a routine but critical step for preclinical imaging applications. Due to the small vein diameter and external disturbances such as tail hair, pigmentation, and scales, identifying vein location is difficult and manual injections usually result in poor repeatability. To improve the injection accuracy, consistency, safety, and processing time, A-VAS was developed to overcome difficulties in vein detection noise rejection, robustness in needle tracking, and visual servoing integration with the mechatronics system.
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    Robotic Cell Manipulation Using Optical Tweezers With Unknown Trapping Stiffness and Limited FOV (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: In existing control methods for optical tweezers, the trapping stiffness is usually assumed to be constant and known exactly. However, the stiffness varies according to the size of the trapped particle and is also dependant on the distance between the center of the laser beam and the particle. It is, therefore, difficult to identify the exact model of the trapping stiffness. In addition, it is also assumed that the entire workspace is visible within the field of view (FOV) of the microscope. During trapping and manipulation, certain image features such as the desired position may leave the FOV, and therefore, visual feedback is not available. In this paper, a robotic setpoint control technique is proposed for optical manipulation with unknown trapping stiffness and limited FOV of the microscope. The proposed method allows the system to operate beyond the FOV and perform trapping and manipulation tasks without any knowledge of the trapping stiffness. The stability of the overall system is analyzed by using Lyapunov-like method, with consideration of the dynamics of both the cell and the manipulator of laser source. Experimental results are presented to illustrate the performance of the proposed method.
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    A New Mechanism for the Vibration Control of Large Flexible Space Structures With Embedded Smart Devices (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: Large flexible space structures (LFSS), such as solar panels and synthetic aperture radar antennae, are widely employed in spacecraft. Owing to their structural peculiarities in addition with the special environment in outer space, it is easy to be aroused for the structural vibration of LFSS. This kind of vibration is very harmful to spacecraft. In this paper, we proposed a new mechanism for the vibration control of LFSS. An embedded smart device with a piezoelectric ceramic stack was built up, also. First, the nonlinear theory of structural vibration coupled with inner forces was deduced. Second, the basic principle of the new mechanism with the piezoelectric ceramic stack was expounded. Third, the smart device manufacturing and the embedded techniques were introduced. Finally, taking several solar panel structures as illustrative examples, we carried out both digital simulations and ground experiments. The research results showed us that the proposed new mechanism is quite effective to the vibration control of LFSS. This paper gives a new way to solve the vibration control problem of LFSS, especially for those with low frequencies, which is very valuable for improving the accuracy and performance of spacecraft.
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    Evolutionary Computing and Optimal Design of MEMS (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: Fostered by the development of new technologies, microelectromechanical systems (MEMS) are massively present on board of vehicles, within information equipment as well as in medical and healthcare equipment. A smart approach to the design of MEMS devices is in terms of the simultaneous optimization of multiple objective functions subject to a set of constraints. This leads to the family of solutions minimizing the degree of conflict among the objectives (Pareto front). Accordingly, in this paper, a procedure of optimal shape design of MEMS based on evolutionary computing is proposed and validated on three case studies.
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    High-Precision Automated 3-D Assembly With Attitude Adjustment Performed by LMTI and Vision-Based Control (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: In this paper, a fully automated microassembly methodology is proposed to assemble a slice micropart into a groupware in three-dimensional (3-D) space with the requirement of attitude adjustment. To accurately acquire the attitude of the slice micropart, we proposed an automated measurement method based on a laser triangulation measurement instrument ${bf (LTMI)}$ guided by microscopic vision as well as an accurate calibration method for the telecentric vision system based on nonlinear damping least square method. To achieve automatic assembly, a three-stage microassembly strategy is presented: 1) attitude adjustment of the groupware based on multimicroscopic vision regarding the slice micropart's attitude as the target; 2) coarse-to-fine alignment of the slice micropart to the groupware in 3-D space on the basis of ${bf LTMI}$ and microscopic vision; 3) remove microgripper of slice micropart until it is completely glued. Fully automated microassembly experiments are conducted, and the results demonstrate the reasonability of proposed approaches. The task has been performed with the following accuracy: 3 μm for the center position error, 2 μm for the depth error and 0.3° for the attitude error.
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    A Lumped-Parameter Model for Adaptive Dynamic MR Damper Control (2015)
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    Publication Date: 2015-08-07
    Description: The dynamic behavior of a small-scale magnetorheological damper intended for use in a tremor-suppression orthosis is characterized through experimental analysis and mathematical modeling. The combined frequency response of both the electromagnetic coil and the fluid particles is modeled by a third-order transfer function. The output of this function is an effective current that, combined with piston position and velocity, is empirically related to the resistance force of the damper. The derived model demonstrates high-fidelity to experimental testing of the damper under variable piston velocity and applied current within the expected frequency range of pathological tremor. The model is, thus, deemed suitable for use in a control algorithm for the mechanical suppression of tremor via magnetorheological damping.
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    IEEE/ASME Transactions on Mechatronics publication information (2015)
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    Publication Date: 2015-08-07
    Description: Provides a listing of current staff, committee members and society officers.
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    Improving Resolution and Run Outs of a Superconducting Noncontact Device for Precision Positioning (2015)
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    Publication Date: 2015-08-07
    Description: This paper describes the improvement of the performance of a long-stroke high-precision positioning slider suitable for cryogenic environments due to the application of a set of design rules given in a previous paper. The device, based on superconducting magnetic levitation, is self-stable and does not make contact between the slider and the guideline, avoiding tribological and lubrication problems associated with cryogenics. This new prototype was built and tested in a relevant environment at ∼15 K and high vacuum (∼10 −6 Pa), demonstrating an enhanced resolution (70 ± 10 nm RMS), lateral run out (about ±2 μm), and angular run outs (between tens to hundreds of μrad). In addition, new data related to the dynamics of the mechanism are presented. The demonstration of the design rules for this sort of mechanism provides a probed useful tool for engineers and increases the readiness of the technology. The demonstrated performance of the mechanism makes it suitable for applications where high-precision positioning is required over a long range in cryogenic environments like in far-infrared interferometry.
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    Millimeters-Stroke Nanopositioning Actuator With High Positioning and Thermal Stability (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: This paper presented the design and modeling of a novel nanopositioning actuator that delivers millimeters stroke with high positioning and thermal stability. This actuator comprises a unique electromagnetic driving module (EDM) articulated from a segmented dual-magnet (DM) configuration, and flexure-based supporting bearings realized via a flexible membrane concept. In this paper, the fundamental insights on how to design and model the proposed segmented DM configuration are presented in detail. The remainder of this paper focuses on the thermal modeling of the unique EDM and the stiffness modeling of the unconventional flexure-based bearings. Subsequently, all theoretical models are evaluated through experimental investigations conducted via a developed prototype. The prototype also achieved an average positioning stability of $pm$ 10 nm with a thermal stability of $pm$ 0.1  $^{circ }$ C throughout a traveling range of 2 mm ( $pm$ 1 mm). Such actuator is useful for applications where direct feedback on the end effector is impossible.
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    Modeling Cable and Guide Channel Interaction in a High-Strength Cable-Driven Continuum Manipulator (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: This paper presents several mechanical models of a high-strength cable-driven dexterous manipulator designed for surgical procedures. A stiffness model is presented that distinguishes between contributions from the cables and the backbone. A physics-based model incorporating cable friction is developed and its predictions are compared with experimental data. The data show that under high tension and high curvature, the shape of the manipulator deviates significantly from a circular arc. However, simple parametric models can fit the shape with good accuracy. The motivating application for this study is to develop a model so that shape can be predicted using easily measured quantities such as tension, so that real-time navigation may be performed, especially in minimally-invasive surgical procedures, while reducing the need for hazardous imaging methods such as fluoroscopy.
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    Integral Acceleration Generation for Slip Avoidance in a Planar Humanoid Robot (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: Slip occurrence puts not only the humans but also the humanoid robots into dangerous situations. Although the detection and the estimation of slip have been well researched, studies on slip avoidance control in a humanoid robot are rare. Previous methods used to restrict the horizontal motion or regulate the vertical motion of the humanoid robot did not take the important rotational motion into account. This study proposes an integral acceleration generation method for slip avoidance that meets the real-time requirements, using the sagittal plane as an example. The proposed method makes full use of all the motions related to the slip in the sagittal plane to prevent the slip, including the translational and the rotational motions. The simulations and experiments on the physical humanoid robot demonstrate the effectiveness of the presented method.
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    Modeling and Vibration Control of a Coupled Vessel-Mooring-Riser System (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: This paper investigates the modeling and vibration control design of a coupled vessel-mooring-riser system. The coupling among the vessel, the mooring lines, and the riser is taken into consideration, and the system is described by a set of partial differential equations and some ordinary differential equations based on energy functions of this system. A control law is proposed at the top boundary of the system to suppress the vibrations of both the mooring lines and the riser. The stability and uniform boundedness of the system under the distributed disturbance are proved via Lyapunov's direct method. Numerical simulations are given to verify the effectiveness of the control law.
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    Magnetohydrodynamic-Driven Design of Microscopic Endocapsules in MRI (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: Microscopic medical robots capable of translating in a bloodstream or similar liquid represent a new type of therapeutic technology for surgical interventions. This study aims to characterize a new MRI compliant method of propulsion for swimming robots using the magnetohydrodynamic effect (MHD). An MHD drive is a method of propulsion employing only electromagnetic elements, without the need for moving mechanical parts. By utilizing MHD voltages induced within the MRI magnetic field, the opportunity to propel a device and provide imaging simultaneously is presented. We hypothesized that a wireless MHD-driven thruster could be developed to control endocapsules within the MRI magnetic field. A model capsule was constructed and evaluated in a scaled MRI-environment, and subsequently, tested for MRI-compatibility at 3 T. Dynamic performance of the endocapsule was characterized as input power was varied. In the scaled MRI environment, a peak force of 0.31 mN was observed, providing evidence that an MHD-driven endocapsule is possible in an MRI environment. Increased forces will be obtainable with increases in magnetic field strength and applied power.
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    IEEE/ASME Transactions on Mechatronics publication information (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: Provides a listing of the editors, board members, and current staff for this issue of the publication.
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    Interaction Control Capabilities of an MR-Compatible Compliant Actuator for Wrist Sensorimotor Protocols During fMRI (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: This paper describes the mechatronic design and characterization of a novel MR-compatible actuation system designed for a parallel force-feedback exoskeleton for measurement and/or assistance of wrist pointing movements during functional neuroimaging. The developed actuator is based on the interposition of custom compliant elements in series between a nonbackdrivable MR-compatible ultrasonic piezoelectric motor and the actuator output. The inclusion of physical compliance allows estimation of interaction force, enabling force-feedback control and stable rendering of a wide range of haptic environments during continuous scanning. Through accurate inner-loop velocity compensation and force-feedback control, the actuator is capable of displaying both a low-impedance subject-in-charge mode and a high stiffness mode. These modes enable the execution of shared haptic protocols during continuous functional magnetic resonance imaging. The detailed experimental characterization of the actuation system is presented, including a backdrivability analysis, demonstrating an achievable impedance range of 22 dB, within a bandwidth of 4 Hz (for low stiffness). The stiffness control bandwidth depends on the specific value of stiffness: a bandwidth of 4 Hz is achieved at low stiffness (10% of the physical springs stiffness), while 8 Hz is demonstrated at higher stiffness. Moreover, coupled stability is demonstrated also for stiffness values substantially (25%) higher than the physical stiffness of the spring. Finally, compatibility tests conducted in a 3T scanner are presented, validating the potential of inclusion of the actuator in an exoskeleton system for support of wrist movements during continuous MR scanning, without significant reduction in image quality.
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    Design of an Adaptive Fuzzy-Bias SMC and Validation for a Rugged Electrohydraulic System (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: An adaptive fuzzy-bias sliding-mode controller has been designed by adding biasing to an existing controller for motion tracking by an electrohydraulic system. The system has a proportional valve with large deadband and a cylinder with jump in static friction and nonlinear but continuous dynamic friction. While the biasing controller takes care of the discontinuous features, the fuzzy controller approximates the other system nonlinearities. The sliding-mode controller compensates the approximations. By a number of real-time experiments, the appropriate choices for the number of fuzzy rule base and some free parameters have been established. Then, starting with the same set of initial parameters for tracking step and sinusoidal demands of different frequencies, the responses have demonstrated sufficient adaptability of the controller.
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    A Hybrid Displacement/Pressure Control Scheme for an Electrohydraulic Flow Matching System (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: The electrohydraulic flow matching system is one of the most promising fluid power technologies for the improvement of the control performance and system efficiency of mobile machinery. However, pressure impacts and low efficiencies caused by flow excess are significant drawbacks that hinder its development. To solve this problem, this paper proposes a hybrid displacement/pressure control scheme by utilizing a switching rule according to the pressure margin and the candidate Lyapunov function. The mathematical model of an electrohydraulic flow matching system with primary pressure compensators was established, and the energy efficiency performance was analyzed. Experimental tests in single-actuator and dual-actuator systems were carried out on a test rig with a hydraulic excavator. The experimental results indicated that the pump pressure could be reduced when the supplied flow was excessive, and also the system efficiency was improved. The proposed controller is simple and pragmatic so that it can be easily implemented in the current mobile machinery.
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    Adaptive Neural Network Control of a Compact Bionic Handling Arm (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: In this paper, autonomous control problem of a class of bionic continuum robots named “Compact Bionic Handling Arm” (CBHA) is addressed. These robots can reproduce biological behaviors of trunks, tentacles, or snakes. The modeling problem associated with continuum robots includes nonlinearities, structured and unstructured uncertainties, and the hyperredundancy. In addition to these problems, the CBHA comprises the hysteresis behavior of its actuators and a memory phenomenon related to its structure made of polyamide materials. These undesirable effects make it difficult to design a control system based on quantitative models of the CBHA. Thus, two subcontrollers are proposed in this paper. One, encapsulated in the other, and both implemented in real time allow controlling of the CBHA's end-effector position. The first subcontroller controls the CBHA's kinematics based on a distal supervised learning scheme. The second subcontroller controls the CBHA's kinetics based on an adaptive neural control. These subcontrollers allow a better assessment of the stability of the control architecture while ensuring the convergence of Cartesian errors. The obtained experimental results using a CBHA robot show an accurate tracking of the CBHA's end-effector position.
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    Minimizing Energy Consumption of Parallel Mechanisms via Redundant Actuation (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: This paper shows that redundant actuation can reduce the energy consumption of parallel mechanisms, in some cases by a considerable margin. A theoretical analysis for the energy-saving mechanism is elucidated, and an energy consumption model for a servo-motor system is proposed. Our hypothesis is experimentally verified with a widely used two degree of freedom parallel mechanism design driven by three actuators. Experimental results show that redundant actuation can reduce the electrical energy consumption of the actuators by up to 45% compared to the corresponding nonredundantly actuated version of the mechanism.
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    Dynamic Analysis and Design of Spheroidal Underwater Robots for Precision Multidirectional Maneuvering (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: In this paper, we present an optimized body shape and thruster layout design for a class of jet-propelled underwater robots. Spheroidal robots with no rudders and appendages are highly maneuverable and capable of accessing complex underwater structures for inspection and surveillance. These robots are hydrodynamically unstable, but can make rapid turns and move in multiple directions. This paper describes a control-theoretical design methodology, examining the controllability of surge, sway, and yaw motion in relation to an aspect ratio of the body shape and the direction and location of each propulsion jet. A design with angled jets combined with a body aspect ratio of $hbox{1.2-1.8}$ is controllable and exhibits good performance. A prototype robot with an optimized body shape and jet arrangement has been built and tested. Experimental results illustrate the superb multiaxis maneuverability of this design.
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    A Pneumatically Driven Surgical Manipulator With a Flexible Distal Joint Capable of Force Sensing (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: This paper presents a novel forceps manipulator for surgical robot systems. The forceps manipulator has a highly simplified flexible distal joint, which is actuated by push–pull motions of superelastic wires. Pneumatic cylinders are employed for its driving system to realize high backdrivability of the flexible mechanism, enabling external force estimation without using a force sensor. For the kinematic description, we newly introduce a three-degree-of-freedom (DOF) continuum model considering expansion and contraction of the flexible joint, which allows three-axis force sensing on the forceps tip. We also developed a practical dynamic model, including linear-approximated elastic forces and nonlinear friction forces dependent on the joint bending angle. Effectiveness of the dynamic model is validated by open-loop control performance of the joint angles. The position control system is designed using a PID-based cascade controller with a feedforward compensator based on the dynamic model. Resolution of the joint angle control is 1 $^circ$ , satisfying the requirement for laparoscopic surgery. An external force estimation algorithm is developed, which realizes the three-axis sensing of translational forces acting on the forceps tip. The rigid-link approximation model is also employed to treat the calculation in singular attitude, the straight position of the flexible joint. Effectiveness of the force estimator is experimentally validated using a force sensor in two cases. Estimation error is 0.37 N at maximum with a force in a radial direction, and the estimation performance using the three-DOF force estimator is much better than the one using a conventional two-DOF force estimator.
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    Kinematic Analysis and Motion Planning for a Planar Multiarticulated Omnidirectional Mobile Robot (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: In this paper, kinematic modeling and singularity analysis are performed for an omnidirectional mobile robot. At the beginning, generalized formulas of the mobility and the first-order kinematics for a planar multiarticulated omnidirectional mobile robot are proposed. To verify the proposed formulas, a mobile robot that consists of three wheel mechanisms each of which has one redundant joint as compared to the operational degrees is introduced. Initially, the kinematic modeling and dynamic analysis, and odometry calculation for this robot are conducted. Next, singularity analysis of the proposed robot is performed. Then, using such a kinematic redundancy of each chain, motion planning algorithms that exploit the kinematic redundancy of the wheel chain are suggested. For navigation, a localization algorithm of the mobile robot based on odometry is presented, and specifically, two-leveled obstacle avoidance scheme, which simultaneously considers both large and small obstacles, is proposed. The usefulness of the proposed algorithms is verified through experimentation.
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    Reactive Task Adaptation Based on Hierarchical Constraints Classification for Safe Industrial Robots (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: A widespread and flexible use of robots in rapidly changing working environments could be greatly enhanced by human–robot interaction and collaboration. Humans and robots have complementary skills. The robotic worker can relieve the human from repetitive work, and the human can make robot deployment easier by managing nonstandard or particularly skilful operations. Such a scenario, however, requires new safety systems to preserve human workers from potential danger and at the same time to make human–robot interaction productive and advantageous. In this paper, a system for safe and task consistent human–robot interaction integrated with an industrial controller is proposed. The robot executes evasive motions to avoid impacts with obstacles consistently with the task. A classification of constraints constituting the task is proposed and a safety strategy based on such classification is defined. This paper finally presents integration of the safety system with an industrial controller and experimental validation on an assembly operation.
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    Vibration-Based Milling Condition Monitoring in Robot-Assisted Spine Surgery (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: In order to enhance the safety of the milling operation, we develop a condition monitoring method by means of analyzing the bone vibration signal in robot-assisted spine surgery. Since the behavior of the bone being cut changes with the tissue removal, an analytical method is proposed for modeling of varying bone dynamics, and then, it is proved that the vibration amplitude of the bone indicates its status change. During the real milling process, the vibration signal of the bone is recorded by a noncontact laser displacement sensor, and we only pay attention to the harmonic component whose frequency is an integer times of the spindle frequency of the milling device. The wavelet packet transform and the adaptive linear element are performed to estimate the harmonic amplitude from the signal to correlate milling condition. Considering that the bone vibration also varies with the milling force, the relative magnitude of the force is measured from the wavelet coefficients in low-frequency subband, and subsequently, the estimated harmonic amplitude is compensated to reduce the influence of the force. The robot milling experiments in sheep spines are carried on to verify the effectiveness of the condition monitoring procedure. The experimental results are in substantial accordance with the conclusions from the dynamic model, and thus, the robot can improve the safety of the operation with the proposed method.
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    Stair Climbing via Successive Perching (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: Stairs are a primary challenge for mobile robots navigating indoor human environments. Stair climbing is a useful, if not necessary, capability for mobile robots in urban search and rescue, security, cleaning, telepresence, elder care, and other applications. Existing stair climbing robots are large, expensive, and not always reliable, especially when descending stairs. In this paper, we present a novel approach for stair climbing that is achievable by a small mobile robot with minimal actuators and sensors and, thus, cost. The proposed robot has articulated tread assemblies on either side of a chassis. Using feedback control, the robot can balance on the edge of a single step. As the robot drives up the step, the chassis pivots to maintain the center of mass directly above the contact point. The dynamics of the system are derived with the Lagrangian method, and a discrete-time integral controller with friction compensation is designed to stabilize a stair climbing trajectory. The algorithms used to estimate the state of the system with low-cost noisy proprioceptive sensors are explained in detail. No external motion capture system is used. Simulation results are compared with successful experimental results.
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    Dynamic Force Characterization Microscopy Based on Integrated Nanorobotic AFM and SEM System for Detachment Process Study (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: In this paper, an integrated system, named dynamic force characterization microscopy (DFCM), is proposed to investigate the detachment process at small scale. This system is constructed by integrating a modified atomic force microscopy (AFM) cantilever, a laser displacement sensor and a nanorobotic manipulation system with scanning electron microscopy (SEM). The micropolystyrene bead and biological cell are taken as the samples, which are put on the substrate surface inside SEM chamber first. Then, the modified AFM cantilever is used to detach the sample under the driving of the nanorobotic manipulator. In this process, the detachment force is measured by the laser displacement sensor dynamically. All the while, the shape changing of the sample is observed by SEM at nanometer resolution. The experimental results verify that DFCM integrates the accurate force measurement ability of AFM, the real-time high-resolution imaging ability of SEM and the flexible manipulation ability of robot. It provides a novel approach for the dynamic force characterization at small scale, which will greatly benefit the in-depth understating of the dynamic detachment process and the characterization of material's mechanical property.
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    Hand-Held Bone Cutting Tool With Autonomous Penetration Detection for Spinal Surgery (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: In spinal surgery, a surgeon often needs to remove some parts of the spine to relieve the pressure on the spinal cord or other nerves. In this procedure, the surgeon needs to cut and drill some holes in the spine. This operation is very risky because there are some nerves beneath the target bones, and this procedure therefore requires a skilled and experienced surgeon. However, if the cutting tool could detect penetration of the bone autonomously, the safety of the procedure would be improved drastically. This study presents a hand-held bone cutting tool system that detects the penetration of the workpiece. The system learns the cutting states and motion states from demonstrations by a surgeon, and it autonomously detects the penetration of the workpiece and stops the actuation of the cutting tool immediately before total penetration. The proposed scheme for penetration detection does not require knowledge of the shape and the position of the workpiece and, therefore, it does not require any costly systems, such as robotic arms and position sensor systems. In addition, the proposed scheme can be easily applied to various shapes of the cutting tool, such as drills and saws. The developed system was evaluated through experiments. The results showed that the performance of the developed system was satisfactory in both a motorized and a hand-held setup.
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    Dynamic Analysis and Multivariable Transient Control of the Power-Split Hybrid Powertrain (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: As an effective approach for improving automobile fuel economy, powertrain hybridization has inspired extensive research efforts on system control and energy optimization. To convert the output of the energy management strategy into actual motion of the engine and the hybrid actuators (motor and generator), the hybrid powertrain controller decides to what extent the optimal operational trajectories of the engine and the hybrid actuators can be realized, so as to achieve the expected fuel efficiency and emissions benefit. To develop a hybrid powertrain controller with higher bandwidth and accuracy, this paper presents the design and experimental validation of a multivariable control framework for the power-split hybrid powertrain, as an improvement over the existing decoupled single-input, single-output (SISO) controller. First, the dynamic analysis characterizes the transient behavior (inverse transient dynamics) of the hybrid powertrain based on its unique physical structure, and reveals the inherent limitations of the SISO hybrid controls on transient engine operation (speed/torque tracking) due to the dynamic interactions among the multiple system variables and the electrical system constraints. Then, to solve this problem and further improve the transient engine operation tracking performance, a multivariable hybrid powertrain controller is designed to dynamically coordinate the engine torque and hybrid torques during transients, so as to flexibly manipulate the transient driving torque of the hybrid vehicle. To validate the proposed control design, a rapid-prototyping hybrid research platform with three-level control architecture is used. Experimental results show the multivariable hybrid powertrain control can produce a faster and balanced engine transient operation, with the moderate electric torque/power usage.
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    A Novel Helical Milling End-Effector and Its Application (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: In the aircraft industry, helical milling is utilized to generate holes in difficult-to-machine materials by means of operating a cutting tool on a helical path into the workpiece. This paper proposes a new helical milling device as an end-effector of industrial robots. The end-effector employs a direct drive rotary motor with dual-eccentric structure to achieve high position accuracy of spindle eccentricity (or radial offset), which indicates the distance between the spindle axis and the hole axis in the radial direction. In order to eliminate the adverse effects of spindle eccentric rotation, time-varying cutting force, and other uncertain disturbances during the machining process, a closed-loop servo control system is designed based on the adaptive robust control (ARC) methodology. Comparative experiments and machining experiments have been conducted to verify the effectiveness of the proposed helical milling end-effector. Compared with the PID and deterministic robust control controllers, the ARC controller guarantees higher accuracy of the spindle eccentricity in the presence of parametric uncertainties and uncertain disturbances. Average errors and maximum errors of the spindle eccentricity stay below 0.5 and 1.6 μm when machining holes with the eccentricity ranging from 0.5 to 4 mm, respectively. Surface roughness Ra and roundness of the machined holes in Ti-alloy and carbon fiber reinforced plastic materials are all below 3.2 and 7 μm, respectively. The results show that the proposed helical milling end-effector is suitable for hole-machining tasks in aircraft assembly applications.
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    Novel, Wirelessly Controlled, and Adaptive Artificial Urinary Sphincter (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: Severe stress urinary incontinence is a nonnegligible complication that affects men as well as women. When initial therapies are not sufficient, implantation of artificial urinary sphincters (AUS) is considered the gold standard treatment. This hydromechanical device applies constant pressure on the urethra to keep urine inside the bladder. Although recovery from incontinence is full or partial, this approach has certain disadvantages. In addition to the difficulties and discomfort encountered when operating the device, insufficient pressure, urethral atrophy, and erosion from constant pressure on the urethra may necessitate revision surgery. In this study, we present a novel, remote-controlled AUS with variable urethral pressure that improves continence and avoids revision surgery. The proposed design eliminates the manual pump, facilitating implantation in men and women. It is compatible with current AUS. The device requires very little power and its parameters can be monitored and updated post-operatively. It has been tested on pig bladders ex vivo . Different pressure control algorithms have been developed, and expected performances have been achieved. Design challenges and experimentation results are reported.
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    Vision-Based Microforce Measurement With a Large Range-to-Resolution Ratio Using a Twin-Scale Pattern (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: Force sensors are often required in order to work at the microscale, but existing ones rarely meet all expectations, particularly in terms of resolution, range, accuracy, or integration potential. This paper presents a novel microforce measurement method by vision, based on a twin-scale pattern fixed on a compliant structure. This approach enabled subpixelic measurement of position by the use of a micromachined pattern based on the Vernier principle. This method also presents flexibility, insensitivity to electronic noise, fast operating time, and ease of calibration. The major contribution consists in the large range-to-resolution ratio of the measurement system. With an experimental range of 50 mN and a resolution below 50 nN, a range-to-resolution ratio of 10 6 is obtained. A repeatability under 7.8 $mu$ N and a trueness under 15 $mu$ N have been experimentally measured. Finally, the method can be applied to other specifications and applications in terms of range.
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    A Modular Implementation Scheme for Nonsingleton Type-2 Fuzzy Logic Systems With Input Uncertainties (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: Using nonsingleton (NS) input fuzzifiers along with type-2 fuzzy systems to handle uncertainties in inputs has received some attention in recent years. However, the NS fuzzification schemes proposed so far have a limited impact because they are restricted to a particular kind of fuzzy sets only. This paper proposes a modular implementation scheme for NS type-2 fuzzy logic systems with input uncertainties. The proposed implementation scheme constitutes a generalized fuzzification which is independent of the forms/shapes of the fuzzy sets, i.e., both the NS fuzzifiers and the membership functions. To investigate the effectiveness of the proposed scheme, type-2 fuzzy logic controllers for three different applications, airplane altitude control, obstacle avoidance for a mobile robot, and a wall following robot, are developed. Additionally, for mapping NS fuzzifiers for real sensors, a sensory noise pattern recognition stage is also developed. Despite encountering various kinds of membership functions and input uncertainties along these three applications, the proposed scheme is able to successfully deal with all three applications. Moreover, the performance results in all three application setups show that NS fuzzification can improve the robustness of type-2 fuzzy logic systems against input uncertainties.
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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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    Platform for Monitoring and Control of Electrically Actuated Shape Memory Polymer Nanocomposite Structures (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: Shape memory polymer nanocomposite structures have a wide range of applications in aerospace, energy, biomedical devices, etc. However, this type of structure has complex and dynamic behaviors, with mechanical, thermal, and electrical performances that need to be monitored in real time. A recently developed low cost, noncontact monitoring and control platform is discussed, which includes six webcams, one thermal imager, and other sense and control electronics. This platform can provide real-time information, such as current, resistance, 3-D geometry, temperature distribution, and recovery speed, acceleration, and torque, while tested structures are undergoing shape recovery. Software with a graphical user interface is developed to enable vision/thermal system calibration, information measurement, and deformation control of shape memory polymer nanocomposite structures. The salient features of the new platform are: the correlation between the webcams and the thermal imager is constructed so that the temperature at any specific point of the structure surface can be autonomously measured in real time; a new approach is included in the platform for the thermal imager calibration; the information sensed in the platform can be used to develop the recovery torque model and the surface temperature prediction model; and a control system can be developed to precisely drive the recovery process.
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    An SIMO Nonlinear System Approach to Analysis and Design of Vehicle Suspensions (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: Vehicle suspension (or vibration control) systems are usually inherently nonlinear and can be modeled as single input multiple output (SIMO) system. In this paper, parametric convergence bounds for Volterra series expansion of nonlinear systems described by a SIMO nonlinear auto-regressive with exogenous inputs model are studied in the frequency domain, which can clearly indicate the parametric range in which a given nonlinear system has a convergent Volterra series expansion, referred to as parametric bound of convergence (PBoC). With the resulting PBoC of characteristic parameters, nonlinear systems with a nonlinear multiobjective performance (MOP) function can then be analyzed in the frequency domain using a nonlinear characteristic output spectrum method based on the Volterra series expansion. To demonstrate the results and method above, a vehicle suspension system, which is taken as a typical SIMO nonlinear system with a MOP function to optimize, is investigated. The results demonstrate a systematic and novel method for nonlinear analysis and design.
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    Sliding DFT-Based Vibration Mode Estimator for Single-Link Flexible Manipulator (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: An estimation method based on sliding discrete Fourier transform (SDFT) integrated with phase-locked loop is introduced for vibration mode estimation of single-link flexible manipulator (SLFM). Based on Euler-Lagrangian state space model and first vibration mode frequency, SDFT PLL is designed to estimate first vibration mode and harmonics that appear in tip deflection. Instantaneous change in tip deflection due to payload conditions is tracked by adaptive sampling frequency control. State-space model, estimated amplitudes and frequencies of tip deflection including harmonics are validated through experiments. Furthermore, experimental investigation on SLFM demonstrates the effectiveness of online vibration mode estimation method in presence of noise and offset.
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    Time-Optimal Path Parameterization for Redundantly Actuated Robots: A Numerical Integration Approach (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-10-27
    Description: Time-optimal path parameterization (TOPP) under actuation bounds plays a fundamental role in many robotic theories and applications. This algorithm was first developed and perfected for classical serial robotic manipulators whose actuation is nonredundant. Yet, redundantly actuated systems, such as parallel manipulators or humanoid robots in multicontact tasks, are increasingly common in all fields of robotics. Here, we extend the classical algorithm of TOPP (a.k.a. numerical integration approach) to the case of redundantly actuated systems. As illustration, we present an application to multicontact trajectory planning for a humanoid robot.
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    Design of a Myoelectric Transhumeral Prosthesis (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-15
    Description: This paper describes a transhumeral prosthesis prototype intended for the purpose of experimentally investigating design features and control strategies for the control of transhumeral prostheses. This paper specifically focuses on the design and performance characterization of a powered wrist rotator and powered elbow joint, in addition to the embedded system that controls them. In addition to outlining design objectives associated with the wrist and elbow joints, this paper describes the design of both joints, and the embedded system that provides control of them and the arm system. Experimental data are presented that characterizes the performance characteristics of both joints, including data associated with electrical power consumption and audible noise. The arm prosthesis described here is intended to be used with a multigrasp hand prosthesis, previously published by the authors.
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    Piezoelectric Beam for Intrabody Propulsion Controlled by Embedded Sensing (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-05-06
    Description: The body is a very challenging environment for locomotion. The mechanical properties of intrabody fluids and tissues vary by location and time. In order to move an embedded biomedical device such as a deep brain stimulation electrode, one has to identify the properties of the environment and set the propulsive actuator's input accordingly. We developed a piezoelectric actuator for propelling a microrobot in cerebro spinal fluid or burrowing in the brain tissue parenchyma. The propulsion is created by the vibration of the beam at the resonance frequencies. The driving of the actuators is controlled by in situ multi-input multi-output system identification (SI) using part of the beam as sensor and part as actuator. In this study, we model the sensing of the device, present the SI method, the calculation of the input signals to achieve maximal propulsion, and we test the driving method experimentally. The microactuator is examined in 500-cP silicon oil and a 20-mm-long actuator can achieve 3-μN propulsive force.
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    Counterbalancing Speed Control for Hydrostatic Drive Heavy Vehicle Under Long Down-Slope (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This paper deals with the counterbalancing speed control issue of the closed hydrostatic drive hydraulic system of the heavy transportation vehicle under long down-slope. First, a novel method to realize the balancing to the down-slope weight force and the regulation to the motor speed is proposed. Next, a global fast terminal sliding mode control method is introduced to the speed control system. Then, addressing the load torque disturbance, a disturbance observer is designed for rejecting to disturbance. Finally, a test rig is established for verifying the effectiveness of the control method. The simulation and experimental results show that the designed continued hydraulic counterbalancing speed control system can smoothly regulate the traveling speed and restrain the load disturbance.
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    Approximate Path-Tracking Control of Snake Robot Joints With Switching Constraints (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This paper presents an approximate path-tracking control method for all joints of a snake robot, along with the verification of this method by simulations and experiments. We consider a wheeled snake robot that has passive wheels and active joints. The robot can switch the wheels that touch the ground by lifting the required parts of its body. The model of the robot becomes a kinematically redundant system if certain wheels are lifted. Using this kinematic redundancy, and selecting the appropriate lifted parts, we design a controller for approximate path tracking. Simulations and experimental results show that the proposed controller effectively reduces the path-tracking error for all joints of the snake robot.
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    Variable Recruitment Testing of Pneumatic Artificial Muscles for Robotic Manipulators (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This paper investigates the orderly recruitment of pneumatic artificial muscles for efficient torque production in a robotic manipulator. Pneumatic artificial muscles (PAMs) are arranged in a parallel bundle, and independently-controlled “motor units” are employed to imitate the structure and function of human skeletal muscle. Simulated cycling tests are conducted on a model of the robotic manipulator to quantify the benefits of variable recruitment, and experimental testing is performed to validate the simulated predictions. Results reveal a distinct relationship between recruitment and system efficiency. Key factors influencing the value of a variable recruitment strategy include nonlinear PAM bladder elasticity, pneumatic losses, and dissipative forces in the robotic joint. Recruitment guidelines are proposed to maximize efficiency over a range of payload masses. The potential challenges associated with maintaining smooth motion control during discrete transitions in recruitment are also identified and discussed.
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    A Multigrasp Hand Prosthesis for Providing Precision and Conformal Grasps (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This paper presents the design of an anthropomorphic prosthetic hand that incorporates four motor units in a unique configuration to explicitly provide both precision and conformal grasp capability. The paper describes the design of the hand prosthesis, and additionally describes the design of an embedded control system located in the palm of the hand that enables self-contained control of hand movement. Following the design description, the paper provides experimental characterizations of hand performance, including digit force capability, bandwidth of digit movement, physical properties such as size and mass, and electrical power measurements during activities of daily living.
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    Transparent Synchronous Electrostatic Actuator for Long-Stroke Planar Motion (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This paper reports a development of a transparent planar electrostatic actuator, which is useful for constructing interactive human–computer interfaces on flat panel displays. The actuator is a pair of transparent plastic films with strip electrodes in three-phase connections. Half of the electrodes in each film are X electrodes, and the rest are Y electrodes; electrostatic forces excited by applying three-phase voltage to these electrodes drive the actuator at speeds proportional to the excitation frequency. The stator film of the actuator has its X and Y electrodes alternately arranged in a four-by-four checkerboard pattern. The slider is a square film with its side twice that of a single square in the stator, with its electrodes separated by diagonal lines. A geometric analysis shows that this electrode arrangement brings position independence of overlapping areas of electrodes. The position independence gives the actuator a uniform thrust force characteristic required for long-stroke planar motion. Based on this concept, we fabricated a prototype by screen-printing. The prototype could exert approximately 100-mN thrust force with an excitation by a pair of 500-V three-phase voltages, and could travel along straight and curved paths within a 132 mm by 132 mm movable range.
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    Fingertip Three-Axis Tactile Sensor for Multifingered Grasping (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: A fingertip three-axis tactile sensor system with the capability of measuring both normal and shear force distribution using quantum tunneling composites is presented. The practical design and fabrication of a tactile sensor for the robot fingertip are described in detail. Also, an integrated fingertip-shaped tactile sensor with 13 tactile cells is developed. The tactile sensor is mounted on a multifingered robotic hand fingertip, and its effectiveness is validated with experimental results. The fabricated fingertip tactile sensor shows that the full-scale range of detectable force are about 10, 10, and 20N for the x -, y -, and z -directions, respectively. Each detector response was proportional to the magnitude of the applied stress. The fingertip tactile sensor showed a high repeatability, low hysteresis, and minimal three-axis force crosstalk. Experiments are conducted with dynamic grasping force control, based on fingertip three-axis sensor feedback. The grasping force of the finger is adjusted adaptively to the three-axis tactile feedback, such that the force on each fingertip is restricted inside the friction cone without any undesired slip or detaching from the object when grasping it.
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    Modeling and Vibration Control for a Nonlinear Moving String With Output Constraint (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: In this paper, boundary control laws are developed to stabilize the transverse vibration for a nonlinear vertically moving string system. The control system is considered with varying length, varying speed, and the constrained boundary output. Based on the integral-barrier Lyapunov function, the exponential stability is proved with the proposed control without consideration of the disturbance. When the external boundary disturbance is taken into account, the disturbance observer is designed to eliminate its effect. The vibration is regulated and the boundary output always remains in the constrained space by appropriately choosing the control parameters. The control design and the stability analysis are based on the original infinite-dimensional dynamic equations. Extensive numerical examples illustrate the performance of the control system.
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    Control-Oriented Design and Robust Decentralized Control of the CEA Dexterous Robot Hand (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This study presents the optimized design and robust control strategies for the CEA dexterous hand. A key design feature relies on integrated modular units, for which the tendon routing minimizes kinematic and static coupling between the different finger axes in the motor-to-joint transmissions. Using single-input/single-output control schemes for the mechanically quasi-decoupled system is particularly relevant when considering practical implementation of controllers for systems with a high number of inputs and outputs. Consequently, analysis of the relative gain array puts forward interesting properties in terms of axes decoupling. In particular, stability conditions are easily respected due to the generalized diagonally dominant property of the resulting plant. Decentralized controllers for both flexion/extension and abduction/adduction motions of one finger unit have been successfully embedded into one single DSP board. The controllers are synthesized using two-degree-of-freedom $H_{infty}$ structure with both feedforward and feedback actions. They have guaranteed high levels of precision and robustness, which, in turn, helps to improve dexterous manipulation skills of robotic hands.
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    Piezoelectrically Actuated Robotic System for MRI-Guided Prostate Percutaneous Therapy (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This paper presents a fully actuated robotic system for percutaneous prostate therapy under continuously acquired live magnetic resonance imaging (MRI) guidance. The system is composed of modular hardware and software to support the surgical workflow of intraoperative MRI-guided surgical procedures. We present the development of a 6-degree-of-freedom (DOF) needle placement robot for transperineal prostate interventions. The robot consists of a 3-DOF needle driver module and a 3-DOF Cartesian motion module. The needle driver provides needle cannula translation and rotation (2-DOF) and stylet translation (1-DOF). A custom robot controller consisting of multiple piezoelectric motor drivers provides precision closed-loop control of piezoelectric motors and enables simultaneous robot motion and MR imaging. The developed modular robot control interface software performs image-based registration, kinematics calculation, and exchanges robot commands and coordinates between the navigation software and the robot controller with a new implementation of the open network communication protocol OpenIGTLink. Comprehensive compatibility of the robot is evaluated inside a $3$ -T MRI scanner using standard imaging sequences and the signal-to-noise ratio loss is limited to $15%$ . The image deterioration due to the present and motion of robot demonstrates unobservable image interference. Twenty-five targeted needle placements inside gelatin phantoms utilizing an 18-gauge ceramic needle demonstrated $0.87$ -mm root-mean-square (RMS) error in 3-D Euclidean distance based on MRI volume segmentation of the image-guided robotic needle placement procedure.
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    A New Transmissibility Analysis Method for Detection and Location of Damage via Nonlinear Features in MDOF Structural Systems (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: In this paper, a new transmissibility analysis method is proposed for the detection and location of damage via nonlinear features in multidegree-of-freedom (MDOF) structural systems. The method is derived based on the transmissibility of nonlinear output frequency response functions (NOFRFs), a concept recently proposed to extend the traditional transmissibility concept to the nonlinear case. The implementation of the method is only based on measured system output responses and by evaluating and analyzing the transmissibility of these system responses at super-harmonics. This overcomes the problems with available techniques, which assume there is one damaged component with nonlinear features in the system and/or require loading on inspected structural systems is measurable. Both numerical simulation studies and experimental data analysis have been conducted to verify the effectiveness and demonstrate the potential practical applications of the new method.
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    Distributed Component Friction Model for Precision Control of a Feed Drive System (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: Nonlinear friction is a dominant factor of the complexity growth of feed drive dynamic behavior. In particular, a feed drive system equipped with rolling contact components such as ball screws and linear motion (LM) guides undergoes impalpable friction behavior. Therefore, proper modeling and compensation of friction in feed drive components play a crucial role in improving the precision of a feed drive system. In this study, to overcome the accuracy limitation of the simplified feed drive model, a distributed component friction model (DCFM) of a feed drive system is developed. Friction has been modeled as a single element of entire feed drive system in the conventional model. However, the proposed DCFM is composed of models of individual feed drive components such as ball screw and LM guide including their friction behaviors. To take advantage of the DCFM by considering both presliding and sliding friction behaviors of each component, LuGre model is applied. For experimental verification of the accuracy of the proposed DCFM, a specially designed feed drive testbed is constructed. Using the testbed, the friction forces of ball screws and LM guides are measured independently. Using the DCFM, a friction observer is built for real-time monitoring and compensation of the friction force. A proportional-derivative feed drive position controller with an observer-based friction compensator is implemented and the experimental results are presented.
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    A Mechatronic System for Robot-Mediated Hand Telerehabilitation (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This paper presents a novel mechatronics master–slave setup for hand telerehabilitation. The system consists of a sensorized glove acting as a remote master and a powered hand exoskeleton acting as a slave. The proposed architecture presents three main innovative solutions. First, it provides the therapist with an intuitive interface (a sensorized wearable glove) for conducting the rehabilitation exercises. Second, the patient can benefit from a robot-aided physical rehabilitation in which the slave hand robotic exoskeleton can provide an effective treatment outside the clinical environment without the physical presence of the therapist. Third, the mechatronics setup is integrated with a sensorized object, which allows for the execution of manipulation exercises and the recording of patient's improvements. In this paper, we also present the results of the experimental characterization carried out to verify the system usability of the proposed architecture with healthy volunteers.
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    Autonomous Greenhouse Mobile Robot Driving Strategies From System Integration Perspective: Review and Application (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: Agricultural operations are constantly becoming technology-driven mainly due to labor shortages, increase in labor cost, and trends in new and advanced technology applications. In this paper, we have presented a system-of-systems approach to design and development of a mobile robotic platform for agricultural applications. Similar to other field robots, the mobile platform for agricultural applications requires a different set of predefined attributes for its operation. We have designed, fabricated, and demonstrated the mobile platform for pesticide spraying application. The design and development includes synergistic integration of mechanical, sensor and actuator, navigational and control, and electronic and software interfacings. The autonomous navigation aspect of the development was achieved via three stages: learning stage, implementation stage (training stage), and testing stage. In the learning stage, we defined the path patterns and studied and recorded the behavior of the vehicle in real-world environment. In the training stage, various steering algorithms for four-wheel driving system were developed and inherent errors were compensated using advanced tools and methods. In the testing stage, we put the robotic platform on an arbitrary path pattern and demonstrated its success in autonomous navigation. The medium-sized mobile robot can be commercialized for greenhouse-based agricultural operations.
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    The Design of the Simple Structure-Specified Controller of Magnetic Bearings for the High-Speed SRM (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: Magnetic bearing system controllers using $H_infty$ algorithms provide excellent interference rejection capability and robustness. However, in the conventional $H_infty$ control design, the order of the controller is much higher than that of the plant, making implementation in practical engineering applications difficult. To solve the problem, based on the requirements of the theory of mixed sensitivity design method, this paper designs a simple structure-specified controller of magnetic bearings for the high-speed magnetic levitated switched reluctance motor (SRM) using backpropagation neural network function approximation characteristics. The proposed controller is of lower order than the traditional $H_infty$ controller, and meets performance of $H_infty$ controller, which is more suitable for practical implementation. By contrast with the traditional mixed sensitivity controller, results of simulations verify that the controller is reasonable. The controller is applied on the high-speed magnetic levitated SRM platform, and experimental results verify that the controller can achieve control of magnetic bearing systems with good disturbance rejection and robustness.
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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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    Optimized Sensorless Antivibration Control for Semiactive Suspensions With Cosimulation Analysis (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: This paper proposes an optimized sensorless control methodology to design semiactive controllers for vehicle vibration control. The semiactive suspension model including filtered feedback scheme and actuator dynamics is first investigated. Furthermore, to estimate the immeasurable states for feedback control, an observer considering practical applications is introduced, while the exponential convergence and the stability of the overall system are guaranteed. A direct fuzzy compensation scheme with genetic optimization is used to release the constraint requiring, in advance, the precise upper bound of system uncertainties in the control gain design. With the cosimulation approach, the multibody virtual prototype of a sedan with the proposed system is tested under various road conditions in a near real environment. The cosimulation data and results for a full-car semiactive suspension system are provided to validate the effectiveness of the proposed control system.
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    Design and Evaluation of Torsional Probes for Multifrequency Atomic Force Microscopy (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: Multifrequency atomic force microscopy is a powerful nanoscale imaging and characterization technique that involves excitation of the atomic force microscope (AFM) probe and measurement of its response at multiple frequencies. This paper reports the design, fabrication, and evaluation of AFM probes with a specified set of torsional eigen-frequencies that facilitate enhancement of sensitivity in multifrequency AFM. A general approach is proposed to design the probes, which includes the design of their generic geometry, adoption of a simple lumped-parameter model, guidelines for determination of the initial dimensions, and an iterative scheme to obtain a probe with the specified eigen-frequencies. The proposed approach is employed to design a harmonic probe wherein the second and the third eigen-frequencies are the corresponding harmonics of the first eigen-frequency. The probe is subsequently fabricated and evaluated. The experimentally evaluated eigen-frequencies and associated mode shapes are shown to closely match the theoretical results. Finally, a simulation study is performed to demonstrate significant improvements in sensitivity to the second- and the third-harmonic spectral components of the tip–sample interaction force with the harmonic probe compared to that of a conventional probe.
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    IEEE/ASME Transactions on Mechatronics information for authors (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2015-08-07
    Description: Provides instructions and guidelines to prospective authors who wish to submit manuscripts.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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    AnyClimb: A New Wall-Climbing Robotic Platform for Various Curvatures (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: Climbing robots are being developed to clean, paint, or inspect high areas that are hard to reach for human beings. To widen their application area, robotic platforms have been suggested using bio-inspired attachment methods, such as dry and wet adhesion for smooth and rough surfaces. Generally, robots can climb either walls or poles, but there has been no single robotic platform that can climb both. We developed a new robotic platform to vertically climb a surface with various curvatures in the horizontal direction. Flat dry adhesive was used to make eight footpads. Walking locomotion of the footpads was achieved by a four-bar mechanism with a single motor. To adapt to curved walls, a compliant mechanism is suggested with an asymmetric four-bar mechanism. The kinematics and compliance design parameters were determined by analysis, and experiments were performed on walls with different curvatures. We plan to apply the platform to clean the surfaces of solar panels with different curvatures after modifying the design for commercialization.
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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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    An Integrated Intelligent Nonlinear Control Method for a Pneumatic Artificial Muscle (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: This paper proposes an advanced position-tracking control approach, referred to as an integrated intelligent nonlinear controller, for a pneumatic artificial muscle (PAM) system. Due to the existence of uncertain, unknown, and nonlinear terms in the system dynamics, it is difficult to derive an exact mathematical model with robust control performance. To overcome this problem, the main contributions of this paper are as follows. To actively represent the behavior of the PAM system using a grey-box model, neural networks are employed as equivalent internal dynamics of the system model and optimized online by a Lyapunov-based method. To realize the control objective by effectively compensating for the estimation error, an advanced robust controller is developed from the integration of the designed networks, and improvement of the sliding mode and backstepping techniques. The convergences of both the developed model and the closed-loop control system are guaranteed by Lyapunov functions. As a result, the overall control approach is capable of ensuring the system's performance with fast response, high accuracy, and robustness. Real-time experiments are carried out in a PAM system under different conditions to validate the effectiveness of the proposed method.
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    Design and Control of an All-in-the-Wheel Assisted Kick Scooter (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: Traffic congestion, energy efficiency, and environmental issues are fueling the interest in light electric vehicles. In particular, electric human-powered hybrid vehicles are compelling because of their low cost, ease of use, lightweight, and extremely small footprint. This paper presents an electrically assisted kick scooter. Most electric scooters are throttle-controlled; this makes them electric vehicles, and as such, they may require driving licenses. The proposed design solves this limitation by introducing the electrically assisted kick scooter concept. The proposed design does not have any human–machine interface device. It controls the electric assistance in a transparent way. The user operates the vehicle as a passive scooter, while the control system smoothly delivers the assistance. The proposed solution is based on several functional modules: a kick detection algorithm, a closed-loop control of the vehicle velocity, a brake detection algorithm, and an online parameter estimator that makes sure that the vehicle behaves consistently no matter the road surface. The details of the control system are discussed in the paper, and an extensive experimental validation based on metabolic and electric measurements shows that the electric assistance cuts in half the effort necessary to operate the vehicle with an average battery consumption of 4 Wh/km.
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    IEEE/ASME Transactions on Mechatronics (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
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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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    Comparison of Path Tracking Control of a Car-Like Mobile Robot With and Without Motor Dynamics (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: The path tracking model of a car-like mobile robot (CLMR), including its kinematic and dynamic characteristics and the dc motor dynamics, is derived. Due to the hierarchical architecture of the model, the virtual reference input (VRI) (i.e., the reference motor current) is first designed by the first sliding surface, which is set as the linear dynamic pose error of the CLMR. After that, the linear dynamic tracking error of the VRI constructs the second sliding surface for the design of the hierarchical variable structure tracking control (HVSTC). Thus, the direct output (i.e., the motor current) either asymptotically or boundedly tracks the VRI. In this situation, the asymptotic or bounded tracking of the indirect outputs (i.e., the pose of CLMR) is achieved. In addition, the variable structure tracking control (VSTC) based on the above model without the motor dynamics is compared with the model with motor dynamics by HVSTC. To demonstrate the advantageous feature of this paper, the obstacle avoidance (OA) and the target approach (TA) are accomplished by the concept of waypoints. Finally, the simulations for tracking the straight-line and circular paths with the simultaneous OA and TA of the CLMR with and without motor dynamics are compared by the HVSTC and the VSTC, respectively.
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    Precision Alignment of Optical Fibers Based on Telecentric Stereo Microvision (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: Optical fiber alignment plays an important role in assembling an optical fiber-based system. Proper alignment can improve optical transmission efficiency of the spliced fiber. As for traditional methods, passive alignment has its drawback of less accuracy, and the active method based on optical power sensing is complex and often cannot find the best solution. In this paper, a novel precision closed-loop method for optical fiber alignment based on telecentric lens is introduced. First, to improve the measurement accuracy of the binocular vision system, a quick and high-precision image-processing algorithm for the glass core of an optical fiber is proposed. Then, a stereo matching problem is solved by combining the epipolar constraint with the geometry constraint especially for telecentric lens, and the 3-D recovery of the optical fibers is achieved. Finally, with the help of a proposed simple eye-to-hand calibration for this microalignment system, a coarse-to-fine strategy is put forward to deal with this five-degree-of-freedom alignment task. The experimental results showed that the proposed method had high performance such as prominent precision and strong robustness in 3-D optical fiber alignment.
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    An Ingestible Capsule for the Photodynamic Therapy of Helicobacter Pylori Infection (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: Helicobacter pylori ( H. pylori ) is a Gram-negative pathogen bacterium affecting the mucosa of the stomach and causing severe gastric diseases. H. pylori -related infections are currently treated with pharmacological therapies, which are associated with increasing antibiotic resistance and consequent reduction of the efficacy down to 70%–85%. Moreover, drugs have generally side effects that further affect the healthcare system in terms of additional financial and medical efforts. The aim of this study is to present an innovative device for the treatment of H. pylori infection, consisting of an ingestible lighting capsule performing photodynamic therapy by means of light at specific wavelengths. The proposed treatment is minimally invasive and the described system can be considered the first photodynamic swallowable device ever proposed. Preliminary experiments demonstrated that the capsule integrated with LED sources can provide the required lighting power to kill the bacterium with an efficiency up to about 96%.
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    Vision-Guided Aerial Manipulation Using a Multirotor With a Robotic Arm (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: This paper presents a vision guidance approach using an image-based visual servo (IBVS) for an aerial manipulator combining a multirotor with a multidegree of freedom robotic arm. To take into account the dynamic characteristics of the combined manipulation platform, the kinematic and dynamic models of the combined system are derived. Based on the combined model, a passivity-based adaptive controller which can be applied on both position and velocity control is designed. The position control is utilized for waypoint tracking such as taking off and landing, and the velocity control is engaged when the platform is guided by visual information. In addition, a guidance law utilizing IBVS is employed with modifications. To secure the view of an object with an eye-in-hand camera, IBVS is utilized with images taken from a fisheye camera. Also, to compensate underactuation of the multirotor, an image adjustment method is developed. With the proposed control and guidance laws, autonomous flight experiments involving grabbing and transporting an object are carried out. Successful experimental results demonstrate that the proposed approaches can be applied in various types of manipulation missions.
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    An Attitude Estimation Algorithm for Mobile Robots Under Unknown Magnetic Disturbances (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: Attitude estimation is a crucial aspect for navigation and motion control of autonomous vehicles. This concept is particularly true in the case of unavailability of localization sensors when navigation and control rely on dead reckoning strategies; in this case, indeed, the orientation estimate is also used along with speed measurements to update the position estimate. Among the different approaches proposed in the literature, the de facto state of the art in this field is represented by nonlinear complementary filters: they fuse the measurements of angular rate obtained through gyroscopes, and a measurement of gravity and Earth's magnetic field vectors respectively obtained through accelerometers and magnetometers. This paper is focused on an attitude estimation strategy for autonomous underwater vehicles (AUV). The proposed novelty includes the identification of some critical issues that arise when AUV attitude estimation algorithms are applied in practice. They are mainly due to the use of low-accuracy low-cost microelectromechanical systems (MEMS) sensors and on different sources of magnetic disturbances. Some strategies to overcome the identified issues are proposed, including the integration of a single-axis fiber optic gyroscope (FOG) that ensures a considerable performance improvement with a moderate cost increase. The proposed strategies for detection of issues and sensor fusion have been experimentally tested and validated in a real application scenario estimating the attitude of an AUV performing a lawn mower path. The expected performance improvement is confirmed; the obtained results are described and analyzed in this paper.
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    Solution to the Control Problem of Laser Path Tracking Using Risley Prisms (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: A control system is proposed for tracking a desired path with a laser beam. The proposed control system successfully eliminates the singularities associated with utilizing a pair of Risley prisms as the laser ray steering device. The analysis in this paper leads to an accurate derivation of the prisms’ paraxial equations, in addition to introducing an efficient algorithm for finding the prisms’ exact orientations given a desired ray steering direction.
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    Robotics-Assisted Mirror Rehabilitation Therapy: A Therapist-in-the-Loop Assist-as-Needed Architecture (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: This paper presents a therapist-in-the-loop framework for robotics-assisted mirror rehabilitation integrated with adaptive assist-as-needed therapy (ANT) that is adjusted based on the impairment level of the patient's affected limb. The framework, which is designed for patients with hemiparesis and/or hemispatial neglect, uses a patient's functional limb as the medium to transfer therapeutic training from the therapist to the patient's impaired limb (PIL). This allows the patient to use his/her functional limb to adjust the desired trajectory generated by the therapist if the trajectory is painful or uncomfortable for the PIL. In order to realize the adaptive patient-targeted therapy, two motor-function assessment metrics, performance symmetry and level of guidance, are proposed, providing real time, task-independent, and objective assessment of the PIL's motor deficiency. An adaptation law is also presented to adjust the intensity of the therapy delivered to the patient in real time and based on the aforementioned estimation of the impairment level of the PIL. Closed-loop system stability has been investigated in the presence of communication delays to facilitate tele/in-home rehabilitation. For this purpose, a combination of the Circle Criterion and the Small-Gain theorem has been applied to account both for communication time delays and the time-varying adaptive ANT. Results of experiments to investigate the performance of the proposed framework are reported.
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    Design of a Magnetic Actuated Fully Insertable Robotic Camera System for Single-Incision Laparoscopic Surgery (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: This paper presents the design of a novel insertable robotic capsule camera system for single-incision laparoscopic surgery. This design features a unified mechanism for anchoring, navigating, and rotating a fully insertable camera by externally generated rotational magnetic field. The design is inspired by the spherical motor concept where the external stator generates anchoring and rotational magnetic field to control the motion of the insertable robotic capsule camera. The insertable camera body, which has no active locomotion mechanism onboard, is capsulated in a one-piece housing with two ring-shaped tail-end magnets and one cylindrical central magnet embedded onboard as a rotor. The stator positioned outside an abdominal cavity consists of both permanent magnets and electromagnetic coils for generating reliable rotational magnetic field. The initial prototype results in a compact insertable camera robot with a $text{12.7};text{mm}$ diameter and a $text{68 mm}$ length. The design concepts are analyzed theoretically and verified experimentally. The experiments validate that the proposed camera robot design provides reliable camera fixation and locomotion capabilities under various testing conditions.
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    A Passive-Based Physical Bipedal Robot With a Dynamic and Energy-Efficient Gait on the Flat Ground (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: A passive walker is dynamic and energy efficient, but is always restricted to a downward gentle slope, and cannot walk on the flat ground. To design and build a bipedal walking robot, as dynamic and energy efficient as a passive walker, and still enable to walk on the flat ground, there is a need for a proper source of energy (actuation) to replace the gravitational energy input. Such an actuation system should allow the robot to walk a larger portion of a gait cycle all by its natural dynamics, and also, the actuation system does not have to suppress the natural dynamics of the robot. Therefore, in this paper, the authors present the design of a passive-based physical bipedal robot which can walk on the flat ground purely based on its natural dynamics (no control and no actuation) for a large portion of a gait cycle with a dynamic and highly energy-efficient gait. The robot has three internal degrees of freedom, i.e., the (active) hip and the two (passive) knees as well as the two round-feet rigidly connected to the two shanks. Only one compliant hip-actuation system is used to allow the robot to perform energy recovery as well as coordination between the energy input and the natural dynamics. The energy is injected at the hip and is stored in a torsional spring at the beginning of each gait cycle ( $simeq text{40%}$ of a gait cycle); such energy is then recovered to enable the robot walking forward entirely by its natural dynamics for the rest of that cycle ( $simeq text{60%}$ of a gait cycle). As a result, the robot can walk with a dynamic and highly energy-efficient gait on the flat ground with a Froude number of $text{0.176}$ , a mechanical cost of transport of $text{0.086}$ , and a total cost of transport of $text{0.236}$ , which are comparable to a human and the best available bipedal walking robots in the literature.
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    An Optimal Weighted Wavelet Packet Entropy Method With Application to Real-Time Chatter Detection (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: Chatter detection is important for preventing harmful effects induced by chatter in machining processes, and for improving productivity and part quality. Chatter leads to decreased uniformity of energy distribution in the frequency domain. Such uniformity variation can be captured by the weighted wavelet packet entropy (WWPE). In this paper, an optimal WWPE method is proposed for a real-time chatter detection. We investigate the optimal weight, with which the relative distance between stable and chatter states is maximized in terms of the WWPE. Extreme value statistics with a visual method is proposed to compute a theoretically rigorous threshold by modeling tails of the distribution. Using the wavelet packet matrix, the proposed method achieves computational efficiency in milliseconds, and is thus suitable for real-time applications. Finally, machining experiments are conducted to derive the optimal weight and verify the effectiveness of the proposed method.
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    Three-Dimensional Cell Rotation With Fluidic Flow-Controlled Cell Manipulating Device (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: Three-dimensional positioning and orientation of a biological cell under a microscope is an essential step for cell injection and biopsy. The conventional manual cell manipulation and orientation relies on trial and error, with inherent disadvantages such as low efficiency, poor success rate, and inconsistent output. In this paper, we present a system capable of recognizing and adjusting the orientation of a Zebrafish (Danio rerio) embryo in real time with the use of multiple motion control devices. In addition, a custom-made embryo feeding channel and manipulating device was employed to perform cell manipulations in batches. Experimental results demonstrate the system's capability for fast embryo orientation (13 s/cell) with a 97.5% success rate of rotating a cell to a desired orientation about both y - and z -axis of the cell and a low in-plane rotation angle error of 0.5 ${}^{circ}$ .
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    A System for Replacement and Reuse of Tips in Atomic Force Microscopy (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: The ability to replace and reuse only the tip of the probe in an atomic force microscope (AFM) enables employing a greater variety of probes, enhancing their functionalities, and simplifying their use for imaging, metrology, and manipulation. This paper presents the development and evaluation of a system that employs a liquid meniscus at the end of an AFM probe as a microgripper to pick up tips, hold them during use, and subsequently drop them off. The system also comprises a tip supply station and a tip holder that supply new tips and preserve used tips for potential future reuse. The designs of the tip supply station and the tip holder are discussed, and the stiffness of the liquid meniscus is analyzed. Subsequently, a prototype of the system is fabricated. It is demonstrated to pick up a new AFM tip and image a calibration grating without any artifacts. The image is shown to be identical to that obtained by a conventional AFM probe. Likewise, tip detachment and reuse are also experimentally demonstrated. The reused tip is shown to image a calibration grating without artifacts, thereby demonstrating that the detachment and pick-up process does not deteriorate the quality of the replaceable AFM tip.
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    Adaptive Sliding-Mode Observer Design for a Selective Catalytic Reduction System of Ground-Vehicle Diesel Engines (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: In this work, we investigate the adaptive sliding-mode observer design problem for the selective catalytic reduction (SCR) system in diesel-engine aftertreatment systems. First, an uncertain three-state model is obtained. Two kinds of uncertainties are considered: uncertainties with slow variations and uncertainties with fast variations. For the uncertain model, an adaptive sliding-mode observer is proposed. Then, the observer gain tuning method is developed based on the stability analysis of the estimation error system. The proposed observer design method is applied to an SCR system of a medium-duty diesel engine. Experimental results and comparisons are provided to illustrate the advantages of the designed observer according to the proposed algorithm. Compared with the open-loop SCR model and the Luenburger-like observer, the proposed adaptive sliding-mode observer can achieve better performance.
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    Robust Relative Navigation by Integration of ICP and Adaptive Kalman Filter Using Laser Scanner and IMU (2016)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2016-07-05
    Description: This paper presents a robust six-degree-of-freedom relative navigation by combining the iterative closet point (ICP) registration algorithm and a noise-adaptive Kalman filter in a closed-loop configuration together with measurements from a laser scanner and an inertial measurement unit (IMU). In this approach, the fine-alignment phase of the registration is integrated with the filter innovation step for estimation correction, while the filter estimate propagation provides the coarse alignment needed to find the corresponding points at the beginning of ICP iteration cycle. The convergence of the ICP point matching is monitored by a fault-detection logic, and the covariance associated with the ICP alignment error is estimated by a recursive algorithm. This ICP enhancement has proven to improve robustness and accuracy of the pose-tracking performance and to automatically recover correct alignment whenever the tracking is lost. The Kalman filter estimator is designed so as to identify the required parameters such as IMU biases and location of the spacecraft center of mass. The robustness and accuracy of the relative navigation algorithm is demonstrated through a hardware-in-the loop simulation setting, in which actual vision data for the relative navigation are generated by a laser range finder scanning a spacecraft mockup attached to a robotic motion simulator.
    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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