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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)
  • 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.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 3
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    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)
    Details
    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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    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 6
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    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.
    Print ISSN: 1083-4435
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 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.
    Print ISSN: 1083-4435
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 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.
    Print ISSN: 1083-4435
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 10
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    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.
    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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