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  • Articles  (1,083)
  • Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)  (943)
  • American Meteorological Society
  • Annual Reviews
  • 2015-2019  (1,034)
  • 1995-1999  (49)
  • Technology  (1,083)
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  • Articles  (1,083)
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  • 1
    Electronic Resource
    Electronic Resource
    Airway Wall Mechanics (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 47-72 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract The dimensions, composition, and stiffness of the airway wall are important determinants of airway cross-sectional area during dynamic collapse in a forced expiration or when airway smooth muscle is constricted. Under these circumstances, airway caliber is determined by an interaction between the forces acting to open the airway (parenchymal tension and wall stiffness) and those acting to close it (smooth-muscle force and surface tension at the inner gas-liquid interface). Experimental measurements and theoretical models of the airway tube law (relationship between cross-sectional area and transmural pressure) are presented. Data are presented for the elastic properties of the wall tissue. Simulations of airway constriction in normal and asthmatic airways are discussed. To the extent possible, comparisons are presented between the various models and existing experimental data.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.47
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  • 2
    Electronic Resource
    Electronic Resource
    A Dedication in Memoriam of Dr. Richard Skalak (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 1-18 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Richard Skalak (1923-1997) played a leadership role in the formative decades of the discipline of biomedical engineering through his technical contributions in biomechanics, his educational influence on students, and his service to many developing societies and journals. But always, the distinguishing marks of his involvement with any activity or person were his generosity, respect and tolerance for others, integrity, and curiosity. These very qualities are what first brought him as a traditional engineer trained in engineering mechanics into the young field of biomedical engineering in the 1960s, and they are what led him to new approaches to cellular and molecular engineering, tissue engineering, and orthopedic biomechanics. His technical papers and lectures on blood cell mechanics, pulmonary circulation, dental implants, and tissue growth were models of clarity and often pointed the way to new areas of exploration, while his personal writings offer advice on life, academic organizations, and the pursuit of significant work. He would be deeply appreciative that this first volume of the Annual Review of Biomedical Engineering is dedicated to his memory.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.1
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  • 3
    Electronic Resource
    Electronic Resource
    Tissue Engineering: Orthopedic Applications (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 19-46 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Because of an aging population and increased occurrence of sports-related injuries, musculoskeletal disorders have become one of the major health concerns in the United States. Current treatments, although fairly successful, do not provide the optimum therapy. These treatments typically rely on donor tissues obtained either from the patient or from another source. The former raises the issue of supply, whereas the latter poses the risk of rejection and disease transfer. This has prompted orthopedic surgeons and scientists to look for viable alternatives. In recent years, tissue engineering has gained increasing support as a method to treat orthopedic disorders. Because it uses principles of engineering, biology, and chemistry, tissue engineering may provide a more effective approach to the treatment of musculoskeletal disorders than traditional methods. This chapter presents a review of current methods and new tissue-engineering techniques for the treatment of disorders affecting bone, ligament, and cartilage.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.19
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  • 4
    Electronic Resource
    Electronic Resource
    Engineering and Material Considerations in Islet Cell Transplantation (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 103-127 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract The successful application and optimization of cell transplantation will require quantitative engineering design and analysis of cells and materials in which relevant biological processes remain complex and incompletely defined. This report primarily reviews the engineering and material considerations in islet cell transplantation, including established biological constraints and biohybrid devices for cell delivery, as well as available barrier materials and the associated processing strategies directed at the control of solute transport, barrier permeability, and host responses at the biological-material interface. Also described are current areas of investigation with particular promise as enabling technologies for accelerating the clinical effectiveness of islet cell transplantation.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.103
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  • 5
    Electronic Resource
    Electronic Resource
    Bioreactors for Hematopoietic Cell Culture (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 129-152 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Hematopoietic cell culture, or ex vivo expansion of hematopoietic cells, is an enabling technology with many potential applications in bone-marrow transplantation, immunotherapy, gene therapy, and the production of blood products. Hematopoietic cultures are complex, with many different cell types at different stages of development present at any given point in time and never in steady state. Moreover, these cells interact strongly with each other and the environment through cytokines (growth factors) and adhesion molecules, as well as through their metabolism. Despite these significant challenges, cell products produced in bioreactors have shown promise in recent phase 1 clinical trials.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.129
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  • 6
    Electronic Resource
    Electronic Resource
    Implanted Electrochemical Glucose Sensors for the Management of Diabetes (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 153-175 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract By maintaining a near normal (70-120 mg/dL) glucose concentration, diabetic patients can drastically reduce the likelihood of the occurrence of diabetes complications. In the near future, subcutaneously implanted electrochemical glucose sensors will be available to provide frequent or continuous information on which timely treatment decisions, such as insulin injection or glucose source intake, can be based, as well as timely alarm signals. The currently engineered devices are of three types: (a) innocuous microsensors, with actively mass-transporting areas 〈10-3 cm2, replaced twice a week by the patient; (b) self-contained, surgeon-implanted, transmitter-containing packages of 〉1 cm2 area, operating for 〉100 days; and (c) devices transporting subcutaneous fluid to an external sensor, based on implanted microfiltration or microdialysis fibers or on iontophoretic transport of the subcutaneous fluid through the skin.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.153
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  • 7
    Electronic Resource
    Electronic Resource
    Transport of Molecules, Particles, and Cells in Solid Tumors (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 241-263 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Extraordinary advances in molecular biology and biotechnology have led to the development of a vast number of therapeutic anti-cancer agents. To reach cancer cells in a tumor, a blood-borne therapeutic molecule, particle, or cell must make its way into the blood vessels of the tumor and across the vessel wall into the interstitium, which it then must migrate through. Unfortunately, tumors often develop in ways that hinder these steps. The goal of research in this area is to analyze each of these steps experimentally and theoretically and integrate the resulting information into a unified theoretical framework. This paradigm of analysis and synthesis has fostered a better understanding of physiological barriers in solid tumors and aided in the development of novel strategies to exploit and/or overcome these barriers for improved cancer detection and treatment.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.241
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  • 8
    Electronic Resource
    Electronic Resource
    Injectable Electronic Identification, Monitoring, and Stimulation Systems (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 177-209 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Historically, electronic devices such as pacemakers and neuromuscular stimulators have been surgically implanted into animals and humans. A new class of implants made possible by advances in monolithic electronic design and implant packaging is small enough to be implanted by percutaneous injection through large-gauge hypodermic needles and does not require surgical implantation. Among these, commercially available implants, known as radio frequency identification (RFID) tags, are used for livestock, pet, laboratory animal, and endangered-species identification. The RFID tag is a subminiature glass capsule containing a solenoidal coil and an integrated circuit. Acting as the implanted half of a transcutaneous magnetic link, the RFID tag is powered by and communicates with an extracorporeal magnetic reader. The tag transmits a unique identification code that serves the function of identifying the animal. Millions of RFID tags have been sold since the early 1980s. Based on the success of the RFID tags, research laboratories have developed injectable medical implants, known as micromodules. One type of micromodule, the microstimulator, is designed for use in functional-neuromuscular stimulation. Each microstimulator is uniquely addressable and could comprise one channel of a multichannel functional-neuromuscular stimulation system. Using bidirectional telemetry and commands, from a single extracorporeal transmitter, as many as 256 microstimulators could form the hardware basis for a complex functional-neuromuscular stimulation feedback-control system. Uses include stimulation of paralyzed muscle, therapeutic functional-neuromuscular stimulation, and neuromodulatory functions such as laryngeal stimulation and sleep apnea.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.177
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  • 9
    Electronic Resource
    Electronic Resource
    Fluid Mechanics of Vascular Systems, Diseases, and Thrombosis (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 299-329 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract The cardiovascular system is an internal flow loop with multiple branches circulating a complex liquid. The hallmarks of blood flow in arteries are pulsatility and branches, which cause wall stresses to be cyclical and nonuniform. Normal arterial flow is laminar, with secondary flows generated at curves and branches. Arteries can adapt to and modify hemodynamic conditions, and unusual hemodynamic conditions may cause an abnormal biological response. Velocity profile skewing can create pockets in which the wall shear stress is low and oscillates in direction. Atherosclerosis tends to localize to these sites and creates a narrowing of the artery lumen-a stenosis. Plaque rupture or endothelial injury can stimulate thrombosis, which can block blood flow to heart or brain tissues, causing a heart attack or stroke. The small lumen and elevated shear rate in a stenosis create conditions that accelerate platelet accumulation and occlusion. The relationship between thrombosis and fluid mechanics is complex, especially in the post-stenotic flow field. New convection models have been developed to predict clinical occlusion from platelet thrombosis in diseased arteries. Future hemodynamic studies should address the complex mechanics of flow-induced, large-scale wall motion and convection of semisolid particles and cells in flowing blood.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.299
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  • 10
    Electronic Resource
    Electronic Resource
    Cellular Microtransport Processes: Intercellular, Intracellular, and Aggregate Behavior (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 463-503 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Ionic and molecular transfer among cells occurs by a variety of transport processes operative at different length scales. Cell membrane permeability and electrical conductance derive from channel proteins producing pores at the molecular (ultrastructural) scale. Intracellular mobility involves the dynamics of motion through the complex ultrastructure of the cytoplasm. These phenomena unite in the larger-scale (microscopic) process of gross intercellular transfer. When such movement occurs among sufficiently many cells, it in turn begins to reflect their average collective (macroscopic) behavior as bulk tissue. This article surveys selected aspects of intercellular and intracellular transport, with emphasis on detailed mechanistic theory, experimental probes of cellular permeability, and systematic transcendence from small to large length scales.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.463
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  • 11
    Electronic Resource
    Electronic Resource
    Engineering Design of Optimal Strategies for Blood Clot Dissolution (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 427-461 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Blood clots form under hemodynamic conditions and can obstruct flow during angina, acute myocardial infarction, stroke, deep vein thrombosis, pulmonary embolism, peripheral thrombosis, or dialysis access graft thrombosis. Therapies to remove these clots through enzymatic and/or mechanical approaches require consideration of the biochemistry and structure of blood clots in conjunction with local transport phenomena. Because blood clots are porous objects exposed to local hemodynamic forces, pressure-driven interstitial permeation often controls drug penetration and the overall lysis rate of an occlusive thrombus. Reaction engineering and transport phenomena provide a framework to relate dosage of a given agent to potential outcomes. The design and testing of thrombolytic agents and the design of therapies must account for (a) the binding, catalytic, and systemic clearance properties of the therapeutic enzyme; (b) the dose and delivery regimen; (c) the biochemical and structural aspects of the thrombotic occlusion; (d) the prevailing hemodynamics and anatomical location of the thrombus; and (e) therapeutic constraints and risks of side effects. These principles also impact the design and analysis of local delivery devices.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.427
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  • 12
    Electronic Resource
    Electronic Resource
    Ultrasound Processing and Computing: Review and Future Directions (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 559-588 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Since the introduction of medical ultrasound in the 1950s, modern diagnostic ultrasound has progressed to see many major diagnostic tools come into widespread clinical use, such as B-mode imaging, color-flow imaging, and spectral Doppler. New applications, such as panoramic imaging, three-dimensional imaging, and quantitative imaging, are now beginning to be offered on some commercial ultrasound machines and are expected to grow in popularity. In this review, we focus on the various algorithms, their processing requirements, and the challenges of these ultrasound modes. Whereas the older, mature B and color-flow modes could be systolically implemented using hardwired components and boards, new applications, such as three-dimensional imaging and image feature extraction, are being implemented more by using programmable processors. This trend toward programmable ultrasound machines will continue, because the programmable approach offers the advantages of quick implementation of new applications without any additional hardware and the flexibility to adapt to the changing requirements of these dynamic new applications.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.559
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  • 13
    Electronic Resource
    Electronic Resource
    Instrumentation for the Genome Project (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 649-678 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Much of the recent rapid progress in large-scale genomic sequencing has been driven by the dramatic improvements both in the area of biological protocols and in the availability of improved laboratory instrumentation and automation platforms. We discuss recent developments in the area of bioinstrumentation that are contributing to the current revolution in genetic analysis. Examples of systems for laboratory automation are described together with specific single-purpose instruments. Emphasis is placed on those tools that are contributing significantly to the scale-up of genomic mapping and sequencing efforts. In addition, we present a selection of more advanced measurement techniques and instrumentation developments that are likely to contribute significantly to future advances in sequencing and genome analysis.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.649
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  • 14
    Electronic Resource
    Electronic Resource
    Automatic Implantable Cardioverter-defibrillators (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 331-346 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Ventricular fibrillation, a loss of synchronus electrical activity in the heart which leads to hemodynamic collapse, is a leading cause of death. Because of the devastating personal and societal effects of this phenomenon, the automatic cardioverter-defibrillator has been developed for automatic detection and termination of the arrhythmia and is in widespread clinical use. Advances in circuits, leads, waveforms, and signal processing along with increased knowledge of the mechanisms of fibrillation have led to continuing improvements in this device, extending its use to many patients. A device has also been developed for the automatic or semiautomatic treatment of atrial fibrillation, an arrhythmia less life-threatening than ventricular fibrillation, but still a serious health problem. Continued improvement of these devices and the development of qualitatively new approaches hold great promise for exciting therapeutic advances in this area.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.331
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  • 15
    Electronic Resource
    Electronic Resource
    Microfabrication in Biology and Medicine (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 401-425 
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    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Microfabrication uses integrated-circuit manufacturing technology supplemented by its own processes to create objects with dimensions in the range of micrometers to millimeters. These objects can have miniature moving parts, stationary structures, or both. Microfabrication has been used for many applications in biology and medicine. These applications fall into four domains: tools for molecular biology and biochemistry, tools for cell biology, medical devices, and biosensors. Microfabricated device structures may provide significantly enhanced function with respect to a conventional device. Sometimes microfabrication can enable devices with novel capabilities. These enhancing and enabling qualities are conferred when microfabrication is used appropriately to address the right types of problems. Herein, we describe microfabrication technology and its application to biology and medicine. We detail several classes of advantages conferred by microfabrication and how these advantages have been used to date.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.401
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  • 16
    Electronic Resource
    Electronic Resource
    New Strategies for Protein Crystal Growth (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 505-534 
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    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Protein crystallization is the most difficult and time-consuming step in the determination of a protein's atomic structure. As X-ray diffraction becomes a commonly available tool in structural biology, the necessity for rational methodologies and protocols to produce single, high-quality protein crystals has come to the forefront. The basics of protein crystallization conform to the classical understanding of crystallization of small molecules. Understanding the effect of solution variables such as pH, temperature, pressure, and ionicity on protein solubility allows the proper evaluation of the degree of supersaturation present in protein crystallization experiments. Physicochemical measurements such as laser light scattering, X-ray scattering, X-ray diffraction, and atomic force microscopy provide a clearer picture of protein crystal nucleation and growth. This ever deepening knowledge base is generating rational methods to produce protein crystals as well as means to improve the diffraction quality of such protein crystals. Yet, much remains unclear, and the protein crystallization research community will be quite active for many years to come.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.505
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  • 17
    Electronic Resource
    Electronic Resource
    Imaging Transgenic Animals (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 611-648 
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    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Transgenic and eugenic animals as small as 30 g can be studied noninvasively by radionuclides with resolutions of 1-2 mm, by MRI with resolution of 100 mum and by light fluorescence and bioluminescence with high sensitivities. The technologies of radionuclide emission, magnetic resonance imaging, magnetic resonance spectroscopy, optical tomography, optical fluorescence and optical bioluminescence are currently being applied to small-animal studies. These technologies and examples of their applications are reviewed in this chapter.
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    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.611
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  • 18
    Electronic Resource
    Electronic Resource
    3-D Visualization in Biomedical Applications (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 377-399 
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    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Visualizable objects in biology and medicine extend across a vast range of scale, from individual molecules and cells through the varieties of tissue and interstitial interfaces to complete organs, organ systems, and body parts. These objects include functional attributes of these systems, such as biophysical, biomechanical, and physiological properties. Visualization in three dimensions of such objects and their functions is now possible with the advent of high-resolution tomographic scanners and imaging systems. Medical applications include accurate anatomy and function mapping, enhanced diagnosis, accurate treatment planning and rehearsal, and education/training. Biologic applications include study and analysis of structure-to-function relationships in individual cells and organelles. The potential for revolutionary innovation in the practice of medicine and in biologic investigations lies in direct, fully immersive, real-time multisensory fusion of real and virtual information data streams into online, real-time visualizations available during actual clinical procedures or biological experiments. Current high-performance computing, advanced image processing, and high-fidelity rendering capabilities have facilitated major progress toward realization of these goals. With these advances in hand, there are several important applications of three-dimensional visualization that will have a significant impact on the practice of medicine and on biological research.
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    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.377
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  • 19
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    Metabolic Engineering (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 535-557 
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    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Metabolic engineering is the science that combines systematic analysis of metabolic and other pathways with molecular biological techniques to improve cellular properties by designing and implementing rational genetic modifications. As such, metabolic engineering deals with the measurement of metabolic fluxes and elucidation of their control as determinants of metabolic function and cell physiology. A novel aspect of metabolic engineering is that it departs from the traditional reductionist paradigm of cellular metabolism, taking instead a holistic view. In this sense, metabolic engineering is well suited as a framework for the analysis of genome-wide differential gene expression data, in combination with data on protein content and in vivo metabolic fluxes. The insights of the integrated view of metabolism generated by metabolic engineering will have profound implications in biotechnological applications, as well as in devising rational strategies for target selection for screening candidate drugs or designing gene therapies. In this article we review basic concepts of metabolic engineering and provide examples of applications in the production of primary and secondary metabolites, improving cellular properties, and biomedical engineering.
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    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.535
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  • 20
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    Telemedicine: Emerging e-medicine (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 589-610 
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    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract This paper reviews the emergence of telemedicine and its recent expansion and use within the healthcare industry. Through this review, several examples of telemedicine within a variety of applications provide a broad context to discuss the challenges and opportunities facing the emergence of e-medicine. These examples provide snapshots of a teleradiology system used by the military, teleconsultations used in neurosurgery and hemodialysis, and home telemedicine used in diabetes care. Based on the discussion of telemedicine's history and expansion and the examples provided, a framework is offered for understanding the evolution of telemedicine applications through four stages. These stages include: (a) development of basic technological capabilities, (b) development of relevant applications, (c) the integration of technical applications within a complex environment, and (d) transformation of the operating environment. Implications for this framework are discussed.
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    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.589
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  • 21
    Electronic Resource
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    Biomechanics of Microcirculatory Blood Perfusion (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 73-102 
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    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract The microcirculation represents a region of the circulation in which blood vessels are directly surrounded by the tissue and cells to which they supply nutrients and from which they collect metabolites. The cellular elements that make up the microcirculation have now been identified, and a large body of evidence has become available that provides molecular definitions of these elements. The blood flow is in a domain in which viscous stresses dominate, but the viscoelastic and active properties of cells lead to nonlinear problems. The ability of cells to actively control cytoplasmic mechanical properties and shape, as well as their membrane adhesion, leads to unique cell behavior in microvessels that has a direct influence on organ transport and function. There is also increasing evidence that the properties of the cells are in turn influenced by fluid shear stresses. These issues have greatly expanded the scope of microvascular analysis. The microcirculation is one of the sites in which diseases manifest themselves at an early stage. The application of biomechanical analysis of the microcirculation is starting to focus on diseases. The field is rich with problems of high significance.
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    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.73
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  • 22
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    Nucleic Acid Biotechnology (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 265-297 
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    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Driven by advances in the acquisition of genetic sequence information and the ability to manipulate small quantities of nucleic acid, a number of technologies are emerging that exploit nucleic acids for research, diagnostic, and therapeutic utility. In this review, we cover three technologies based on nucleic acids-DNA microarrays, antisense technology, and gene therapy-that are especially promising and may make a substantial impact in the laboratory and in the clinic during the coming years. For each of these areas, an overview of the current status and applications is provided, followed by a discussion of critical issues and challenges to be faced for further advancement of the technology; an emphasis is placed on quantitative and engineering aspects.
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    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.265
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  • 23
    Electronic Resource
    Electronic Resource
    Robotics for Surgery (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 211-240 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract Robotic technology is enhancing surgery through improved precision, stability, and dexterity. In image-guided procedures, robots use magnetic resonance and computed tomography image data to guide instruments to the treatment site. This requires new algorithms and user interfaces for planning procedures; it also requires sensors for registering the patient's anatomy with the preoperative image data. Minimally invasive procedures use remotely controlled robots that allow the surgeon to work inside the patient's body without making large incisions. Specialized mechanical designs and sensing technologies are needed to maximize dexterity under these access constraints. Robots have applications in many surgical specialties. In neurosurgery, image-guided robots can biopsy brain lesions with minimal damage to adjacent tissue. In orthopedic surgery, robots are routinely used to shape the femur to precisely fit prosthetic hip joint replacements. Robotic systems are also under development for closed-chest heart bypass, for microsurgical procedures in ophthalmology, and for surgical training and simulation. Although results from initial clinical experience is positive, issues of clinician acceptance, high capital costs, performance validation, and safety remain to be addressed.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.211
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  • 24
    Electronic Resource
    Electronic Resource
    Engineering Aspects of Hyperthermia Therapy (1999)
    Palo Alto, Calif. : Annual Reviews
    Annual Review of Biomedical Engineering 1 (1999), S. 347-376 
    Details
    ISSN: 1523-9829
    Source: Annual Reviews Electronic Back Volume Collection 1932-2001ff
    Topics: Technology , Medicine
    Notes: Abstract The continuing accrual of positive results in clinical cancer trials of adjunctive, synergistic hyperthermia therapy remains a strong motivation for the development of improved hyperthermia equipment and software. Indeed, the lack of needed engineering tools can be viewed as the major stumbling block to hyperthermia's effective clinical implementation. Developing clinically effective systems will be difficult, however, because (a) it requires solving several complex engineering problems, for which (b) setting appropriate design and evaluation goals is currently difficult owing to a lack of critical biological, physiological, and clinical knowledge, two tasks which must (c) be accomplished within a complicated social/political structure.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1146/annurev.bioeng.1.1.347
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  • 25
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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)
    Details
    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.
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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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    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)
    Details
    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
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  • 27
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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
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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)
    Details
    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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    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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    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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    Magnetic Characterization of Actuators for an Unmanned Aerial Vehicle (2015)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    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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    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
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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
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  • 33
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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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    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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    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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    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
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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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    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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    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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    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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    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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    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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    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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    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)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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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)
    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 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)
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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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    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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    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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    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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    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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    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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  • 86
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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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  • 87
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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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  • 94
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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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