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  • Articles  (652)
  • Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)  (652)
  • 2010-2014  (652)
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  • Electrical Engineering, Measurement and Control Technology  (652)
  • 1
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    Add-On Feedforward Compensation for Vibration Rejection in HDD (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: The applications of the hard disk drive (HDD) in mobile and compact devices pose higher requirement on the vibration-rejection capability of HDD servo control. A novel vibration-compensation method is proposed in this paper. It is an add-on feedforward scheme, and the add-on feature will be turned on only in the specific vibration environment. The scheme comprises two parts: the vibration detection through the analysis of the vibration sensor output, and the vibration compensation through the add-on feature. One major advantage of this method over conventional methods applied in HDD is that the vibration rejection in some frequencies can be improved without the compromise of the performance in other frequencies. The scheme is not based on an accurate modeling, therefore, it is less sensitive to the variation of the plant parameters. The transient response in switching on or off the add-on feature is shortened by the reset control. The scheme is implemented in real HDD, and the experimental results prove the effectiveness of the scheme.
    Print ISSN: 1083-4435
    Electronic ISSN: 1941-014X
    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 2
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    Enhancement in Operator's Perception of Soft Tissues and Its Experimental Validation for Scaled Teleoperation Systems (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: This paper focuses on scaled teleoperation systems interacting with soft tissues and presents an optimal control scheme to maximize the operator's kinesthetic perception of remote soft environments while maintaining the stability in macro-micro interactions. Two performance metrics are defined to quantify the kinesthetic perception of the surgeons and the position tracking ability of the master-slave system. Kinesthetic perception is defined based on psychophysics by using two metrics, which relate to the detection and discrimination of stimulus. This paper then employs a multiconstrained optimization approach to get an optimal solution in the presence of the stability-performance tradeoff wherein the objective is to enhance the kinesthetic perception while maintaining the tracking and robust stability for interactions between macro and microworlds. Simplified stability constraints for scaled teleoperation systems are designed based on Llewellyn's absolute stability criterion for the optimization procedure, which provides easy and effective design guidelines for selecting control gains. Experiments with phantom soft tissues have been conducted using scaled force-position control architecture, scaled position-position control architecture, and scaled four-channel control architecture to verify the proposed control scheme. Results prove the effectiveness of this algorithm in enhancing the kinesthetic perception of surgeons for scaled teleoperation systems. Psychophysical experiments were then performed to compare our approach with similar contemporary research methods that further validated its efficacy.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 3
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    Vision-Aided Laser Doppler Vibrometry for Remote Automatic Voice Detection (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: For automating the remote voice detection using a laser Doppler vibrometer (LDV), we integrate a pan-tilt-zoom (PTZ) camera, a mirror, and a pan-tilt unit (PTU) with the LDV to form a multimodal sensing system. With the assistance of vision and active control components, the LDV can automatically select the best reflective surfaces, point the laser beam to the selected surfaces, and quickly focus the laser beam. For accomplishing these functions, distance measurement and sensor calibration methods are proposed using the triangulation between the PTZ camera and the mirrored LDV laser beam. Based on both the measured distances and the return signal levels of the LDV, a fast and automatic LDV focusing algorithm is designed. Furthermore, strategies and related image-processing techniques in surface selection and laser pointing are designed. Experimental results are shown to validate the performance improvement of the LDV in remote automatic voice detection by using the multimodal system.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 4
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    Adaptive Tracking Control of Hybrid Machines: A Closed-Chain Five-Bar Mechanism Case (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: This paper considers the trajectory tracking problem of hybrid machines. A hybrid machine here refers to a machine that is driven by the constant velocity (CV) motors and servomotors in a proper configuration. The hybrid machine is a meaningful tradeoff between task flexibility and power capacity. However, this system has brought a new challenge to control due to the velocity fluctuation in the CV motor. The velocity fluctuation problem is caused mainly by the uncontrollable input current and the time-varying workload. In addition, the dynamic parameters are uncertain, which further increases the control difficulty. In this paper, we propose an adaptive control law for the trajectory tracking and demonstrate the effectiveness of this control law on a 2-DOF closed-chain five-bar hybrid mechanism driven by one servomotor and one CV motor. The principle of the proposed controller is to properly design the servomotor control input that can compensate not only the uncertainty in the servomotor but also the uncertainty in the CV motor. By the proposed adaptive control law, it can be theoretically proved that the position/velocity tracking errors of the joint associated with the servomotor and the velocity tracking error of the joint associated with the CV motor are convergent to zero as time goes to infinity. Finally, the simulation examples are given to illustrate the effectiveness of the proposed method.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 5
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    2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 6
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    Vision-Based Force Sensing for Nanomanipulation (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: In this paper, a vision-based algorithm for estimating tip interaction forces on a deflected atomic orce microscope (AFM) cantilever is described. Specifically, we propose that the algorithm can estimate forces acting on an AFM cantilever being used as a nanomanipulator inside a scanning electron microscope (SEM). The vision-based force sensor can provide force feedback in real time, a feature absent in many SEMs. A methodology based on cantilever slope detection is used to estimate the forces acting on the cantilever tip. The technique was tested on a scaled model of the nanoscale AFM cantilever and verified using theoretical estimates as well as direct strain measurements. Artificial SEM noise was introduced in the macroscale images to characterize our sensor under varying levels of noise and other SEM effects. Prior knowledge about the cantilever is not required, and the algorithm runs independent of human input. The method is shown to be effective under varying noise levels, and demonstrates improving performance as magnification levels are decreased. Therefore, we conclude that the vision-based force sensing algorithm is best suited for continuous operation of the SEM, fast scanning rates, and large fields-of-view associated with low magnification levels.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 7
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    Force Sensing and Manipulation Strategy in Robot-Assisted Microinjection on Zebrafish Embryos (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: Robot-assisted microinjection has attracted considerable attention from both engineering and biological communities, due to its advantages of high precision and throughput. This paper addresses two issues in the development of enable technologies for robot-assisted microinjection. One is the microforce measurement during the embryo-injection process. A new injection force-sensing scheme based on a simply supported beam structure is reported. The model combining mechanoelectrical transduction of the beam and the polyvinylidene fluoride sensing material is theoretically investigated. The other issue to be addressed is the manipulation strategy to mimic human-injection operation, which is based on force sensing and control techniques. A set of microinjection experiments on zebrafish embryos is performed to demonstrate the effectiveness of the proposed robot-assisted manipulation methodology. Experimental results show that satisfied survival rate of the injected cells can be obtained, which is comparable to manual operation by human expert.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 8
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    A Grey Synthesis Approach to Efficient Architecture Design for Temporal Difference Learning (2011)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2011-12-06
    Description: Temporal difference (TD) constitutes a class of methods for learning predictions in multistep prediction problems. The most important application of these methods is to temporal credit assignment in reinforcement learning. Although these TD procedures work in theory and in principle, its success is contingent on proper selection of parametric values. As well, its learning is majorly based on repeated exposures, which may not always be practical or feasible. This paper examines the issues of the efficient and general implementation of TD for hardware implementation of reinforcement learning algorithms by synthesizing the series of discounted sum of rewards along time. The proposed algorithm eliminates all step size parameters and improves data efficiency based on a synthetic approach of Grey theory. This paper also presents the stability of the proposed algorithm from the viewpoint of Grey theory. The algorithm along with a critic-actor reinforcement learning model is implemented in a System-on-a-Programmable-Chip (SOPC) board. In addition to comparing with the renowned model, adaptive heuristic critic (AHC), the results of experiments demonstrate that the proposed control mechanism can learn to control a system with very little a priori knowledge. Meanwhile, the effect of uncertainty in interactions between the system and the environment can be relaxed to some extent in the learning process of the proposed reinforcement learning agent.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 9
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    Modeling and Robust Discrete-Time Sliding-Mode Control Design for a Fluid Power Electrohydraulic Actuator (EHA) System (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper studies the design of a robust discrete-time sliding-mode control (DT–SMC) for a high precision electrohydraulic actuator (EHA) system. Nonlinear friction in the hydraulic actuator can greatly influence the performance and accuracy of the hydraulic actuators, and it is difficult to accurately model the nonlinear friction characteristics. In this paper, it is proposed to characterize the frictions as an uncertainty in the system matrices. Indeed, the effects of variations of the nonlinear friction coefficients are considered as norm-bounded uncertainties that span a bounded region to cover a wide range of the real actuator friction. For such a discrete-time dynamic model, for the EHA system with system uncertainty matrices and a nonlinear term, a sufficient condition for existence of stable sliding surfaces is proposed by using the linear matrix inequality approach. Based on this existence condition, a DT–SMC is developed such that the reaching motion satisfies the discrete-time sliding mode reaching condition for uncertain systems. Simulation and experimental studies on the EHA system illustrate the effectiveness and applicability of the proposed method.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 10
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    Driftless 3-D Attitude Determination and Positioning of Mobile Robots By Integration of IMU With Two RTK GPSs (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper focuses on the integration of inertial measurement unit (IMU) with two real-time kinematic global positioning system (GPS) units in an adaptive Kalman filter (KF) for driftless estimation of a vehicle’s attitude and position in 3-D. The observability analysis reveals that 1) integration of a single GPS with IMU does not constitute an observable system; and 2) integration of two GPS units with IMU results in a locally observable system provided that the line connecting two GPS antennas is not parallel with the vector of the measured acceleration, i.e., the sum of inertial and gravitational accelerations. The latter case makes it possible to compensate the error in the estimated orientation due to gyro drift and its bias without needing additional instrument for absolute orientation measurements, e.g., magnetic compass. Moreover, in order to cope with the fact that GPS systems sometimes lose their signal and receive inaccurate position data, the self-tuning filter estimates the covariance matrix associated with the GPS measurement noise. This allows the KF to incorporate GPS measurements in the data fusion process heavily only when the information received by GPS becomes reliably available. Finally, test results obtained from a mobile robot moving across uneven terrain demonstrate driftless 3-D pose estimation.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 11
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    IEEE/ASME Transactions on Mechatronics publication information (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 12
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    A New Active Body Weight Support System Capable of Virtually Offloading Partial Body Mass (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper presents a novel active body weight support (BWS) method, which is capable of virtually offloading full or partial body mass for a potential application of enhancing treadmill-based locomotion rehabilitation. The mass-offloading capability is realized by actively compensating a desired amount of body weight and inertia force using an acceleration-feedback scheme. The method has been studied by dynamics simulations and a specially designed nonhuman experiment. In the simulation study, the human and the BWS device were modeled as a multibody dynamical system interacting dynamically with the treadmill. The ground reaction forces were recorded as the dynamic load on the person. A cam-slider-based experiment was designed and conducted to test the engineering feasibility of the mass-offloading capability. Both the simulation and experiment results demonstrated that the BWS system can compensate any desired amount of gravity force and inertia force and, therefore, has the effect of virtually reducing the mass of a person attached to the system.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 13
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    Magnetic Levitation Over Large Translation and Rotation Ranges in All Directions (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper describes a magnetic levitation system that uses a planar array of 16 cylindrical coils to levitate a platform containing two permanent disk magnets. Position and orientation feedback for closed-loop levitation control is provided by an optical rigid-body motion tracker and wireless LED markers. The actuation model for the levitation system across the full translation and rotation ranges was calculated using electromagnetic finite element analysis and validated with force and torque measurements between a single magnet and coil using motion stages and a six-axis force sensor. The transformation from the set of coil currents to the force and torque generated on the levitated body is recalculated in real time at each update of the levitated platform position and orientation obtained from the motion tracker using a precomputed single magnet and coil actuation model, and redundant kinematic control methods are used to find the least squares set of coil currents to generate the forces and torques needed to stabilize the levitated platform by proportional-derivative feedback control. The approximately $80 times 80 times 25$ mm translation range of the implemented levitation system is comparable to the dimensions of the levitated magnet platform. The rotation ranges are $pm 40^circ$ in roll and $pm 15^circ$ in pitch, with unlimited yaw. The horizontal translation ranges can be extended by adding coils to the array, and the vertical translation and tilt rotation ranges are limited by heat dissipation in the coils. Analysis and control methods of the system are described, and large range translation and rotation trajectory following experimental results are given.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 14
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    Design and Characterization of a Robotized Gearbox System Based on Voice Coil Actuators for a Formula SAE Race Car (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper discusses the use of voice coil actuators to enhance the performance of shift-by-wire systems. This innovative purely electric actuation approach was implemented and applied to a Formula SAE race car. The result was more compact and faster than conventional solutions, which usually employ pneumatic actuators. The designed shift-by-wire system incorporates a control unit based on a digital signal processor, which runs the control algorithms developed for both gear shifting and launching the car. The system was successfully validated through laboratory and on-track tests. In addition, a comparative test with an equivalent pneumatic counterpart was carried out. This showed that an effective use of voice coil actuators enabled the upshift time to be almost halved, thus proving that these actuators are a viable solution to improving shift-by-wire system performance.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 15
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    AMB Vibration Control for Structural Resonance of Double-Gimbal Control Moment Gyro With High-Speed Magnetically Suspended Rotor (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper explores a robust $mu$ -synthesis control scheme for structural resonance vibration suppression of high-speed rotor systems supported by active magnetic bearings (AMBs) in the magnetically suspended double-gimbal control moment gyro (MSDGCMG). The derivation of a nominal linearized model about an operating point was presented. Sine sweep test was conducted on each component of AMB control system to obtain parameter variations and high-frequency unmodeled dynamics, including the structural resonance modes. A fictitious uncertainty block was introduced to represent the performance requirements for the augmented system. Finally, D-K iteration procedure was employed to solve the robust $mu$ -controller. Rotor run-up experiments on the originally developed MSDGCMG prototype show that the designed $mu$ -controller has a good performance for vibration rejection of structural resonance mode with the excitation of coupling torques. Further investigations indicate that the proposed method can also ensure the robust stability and performance of high-speed rotor system subject to the reaction of a large gyro torque.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 16
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    Achieving Haptic Perception in Forceps’ Manipulator Using Pneumatic Artificial Muscle (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: Many minimally invasive surgical procedures are now performed using teleoperated robotic systems. However, such commercially available systems do not provide significant force feedback to the surgeon. This reduces surgeon's dexterity and increases tissue trauma when performing the operation. In this paper, a compact and lightweight forceps’ manipulator using pneumatic artificial muscles (PAMs) for minimally invasive surgery is presented, which allows for the perception of manipulation force without the usage of the force sensor. The main advantage of this concept is that no force sensor has to be integrated into surgical instruments and inserted into the patient's body. Rather, a disturbance observer is integrated into the slave-side controller for the estimation of the external force acting at the forcep's tip. This approach reduces costs and stabilizability demands for forceps’ manipulator while enables haptic feedback to the surgeons. Results of force perception experiments and comparison with forceps’ manipulator driven by pneumatic cylinders are presented to validate the concepts.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 17
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    Active Disturbance Rejection Control for Precise Position Tracking of Ionic Polymer–Metal Composite Actuators (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: Active disturbance rejection control method that can actively compensate nonlinear model uncertainties and unpredictable external disturbances is proposed for an accurate position tracking of an ionic polymer–metal composite actuator. An empirical model of the electroactive polymer actuator is constructed by fitting the step response of the actuator. Experimental results show that the present active disturbance rejection control scheme can substantially improve the control performance in the tracking of various reference motions including step, sinusoidal, trapezoidal, and sawtooth wave profiles. The proposed scheme offers an innovative solution for the position tracking of an ionic polymer–metal composite actuator with highly nonlinear dynamics.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 18
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    Design and Characterization of a Small-Scale Magnetorheological Damper for Tremor Suppression (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper explores the design methodology and effectiveness of small-scale magnetorheological dampers (MRDs) in applications that require variable damping. Previously, applications of MRD have been chiefly limited to vehicle shock absorbers and seismic vibration attenuators. There has been recent biomedical interest in active-damping technology, however, particularly in the field of rehabilitation robotics. The topic at hand is the feasibility of developing MRDs that would be functionally and cosmetically adequate for actuation of an upper limb tremor suppression orthosis. A Bingham plastic model is used to determine MRD's functional characteristics, and experimental data are presented to validate the mathematical model. The feasibility of applying the developed small-scale MRDs to attenuation of tremorous motion is explored.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 19
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    A Bidirectional Acceleration Switch Incorporating Magnetic-Fields-Based Tristable Mechanism (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: In order to fulfill the requirements of low energy consumption and two sensing directions, a novel bidirectional acceleration switch is proposed by utilizing the magnetic-fields-based tristable mechanism that can maintain the three stable states without input power and with high position accuracy and repeatability. The bidirectional acceleration switch mainly consists of an inertial mass supported by two parallel elastic beams, two metal contact points, and four permanent magnets with one imbedded in the inertial mass and the other three fixed in the case along the vertical direction. Based on the magnetic charge model, the nonlinear magnetic force is analyzed, and then, a static design model of the bidirectional switch is established by considering the elastic force, the magnetic force, the contact force, and the inertial force. To validate the feasibility of the design method, a miniature sample of the switch is fabricated. The results of the centrifugal experiment show that the threshold accelerations in two directions are 53.0 and -52.0 g, respectively, which are close to the design values of 55.0 and -50.0 g, correspondingly. In addition, the threshold values can be adjusted by changing the relative distances among the four magnets.
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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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  • 20
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    A Monolithic Compliant Piezoelectric-Driven Microgripper: Design, Modeling, and Testing (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: In this paper, we report on the design, modeling, and experimental testing of a piezoelectric-driven microgripper making use of both an integrated gripping force sensor and an integrated tip displacement sensor. In the developed microgripper, a stack piezoelectric ceramic actuator is used to simultaneously obtain the tip displacement and the gripping force. A novel monolithic compliant mechanism is proposed to act as the microdisplacement transmission mechanism to obtain the large tip displacement and to provide the possibility of integrating both the gripping force sensor and the tip displacement sensor into the microgripper. The relationship between the gripping force, tip displacement, input force, and input displacement of the piezoelectric-driven microgripper and the dynamic model are established using the pseudorigid-body-model method. The characteristics of the developed microgripper are tested and the case of gripping an optical fiber is presented. The experimental results indicate that: 1) the theoretical model for the developed microgripper matched well with the measured results; 2) the integrated gripping force sensor and tip displacement sensor could accurately measure the gripping force and tip displacement; 3) the developed microgripper could achieve a displacement magnification of $16.0 times$ with respect to the stack piezoelectric ceramic actuator to realize the large tip displacement with high resolution but is also able to possess the parallel movement of its gripping jaws and the constant displacement magnification.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 21
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    Switched Ethernet-Based Real-Time Networked Control System with Multiple-Client–Server Architecture (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper experimentally verifies that a multiple-client–server architecture based on switched Ethernet can be used as a real-time communication standard for possible applications in factory automation, by observing the effects of packet delays, network congestion, and packet loss on the performance of a networked control system (NCS). The NCS experimental setup used in this research involves real-time feedback control of multiple plants connected to one or more controllers over the network. A multiclient–multiserver (MC–MS) architecture on a local area network (LAN) was developed using user datagram protocol as the communication protocol. In the single-client–single-server (SC–SS) system, as the Ethernet link utilization increased over 82%, the average packet delays and steady-state error of a dc motor speed-control system increased by 2231% and 304%, respectively. As the link utilization increased beyond the threshold, employing an additional server in the NCS reduced average packet delays and also overcame the negative effects of Ethernet's flow control mechanism. The MC–MS architecture is tested with artificially generated random packet loss. The standard deviation of steady-state error (SSE) at 80% utilization with packet loss is found to be 70.2% less than SC–SS and 200% less than multiclient–single-server architecture. The MC–MS architecture remained stable till 70% of control or measurement packet loss.
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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 of a Parallel Robot for Needle-Based Interventions on Small Animals (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: In this paper, a novel 5-degrees-of-freedom robot for performing needle-based interventions on small animal subjects is presented. The robot can realize dexterous alignment of the needle using two parallel mechanisms, and has a syringe mechanism to insert needles to subjects. Operations on small animals require high accuracy positioning during needle insertion. The kinematic calibration procedure of the robot using an optical tracker as an external sensor is presented to enhance accuracy of the system. After the kinematic calibration, the positioning accuracy of the needle tip is measured as 0.4 mm RMS. The robot design is light weight, and has a motion bandwidth of 4 Hz. The robot can track reference trajectories with a closed-loop controller.
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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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  • 23
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    Optimal Low-Power Piezoelectric Actuator Control With Charge Recovery for a Microrobotic Leg (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper describes an efficient control strategy for a piezoelectric microactuator using charge recovery. For piezoelectric actuators, as well as other actuators that behave primarily as capacitive loads, energy consumption can be reduced by minimizing the number of times an actuator is charged and by recovering stored energy when it is turned off. An integer programming-based algorithm is used to drive microrobotic legs powered by piezoelectric actuators to a specified angle in a specified time using minimum energy. Partial charge recovery is incorporated; this allows the use of a more flexible controller than a pure on–off controller, with two or more intermediate voltage levels between the minimum and maximum voltages available to improve positioning accuracy. Simulated and experimental tests show that a prototype piezoelectric robotic leg joint achieved controlled movements with one third of the energy consumed by a pure on–off controller.
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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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  • 24
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    Development and Evaluation of an Actuated MRI-Compatible Robotic System for MRI-Guided Prostate Intervention (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper reports the design, development, and magnetic resonance imaging (MRI) compatibility evaluation of an actuated transrectal prostate robot for MRI-guided needle intervention in the prostate. The robot performs actuated needle MRI guidance with the goals of providing $1)$ MRI compatibility; $2)$ MRI-guided needle placement with accuracy sufficient for targeting clinically significant prostate cancer foci; $3)$ reducing interventional procedure times (thus increasing patient comfort and reducing opportunity for needle targeting error due to patient motion); $4)$ enabling real-time MRI monitoring of interventional procedures; and $5)$ reducing the opportunities for error that arise in manually actuated needle placement. The design of the robot, employing piezoceramic-motor actuated needle guide positioning and manual needle insertion, is reported. Results of an MRI compatibility study show no reduction of MRI signal-to-noise ratio (SNR) with the disabled motors. Enabling the motors reduces the SNR by 80% without radio frequency (RF) shielding, but the SNR is only reduced by 40–60% with RF shielding. The addition of RF shielding is shown to significantly reduce image SNR degradation caused by the presence of the robotic device. An accuracy study of MRI-guided biopsy needle placements in a prostate phantom is reported. The study shows an average in-plane targeting error of 2.4 mm with a maximum error of 3.7 mm. These data indicate that the system’s needle targeting accuracy is similar to that obtained with a previously reported manually actuated system, and is sufficient to reliably sample clinically significant prostat- cancer foci under MRI guidance.
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    Simulation of Rotary Motion Generated by Head-to-Head Carbon Nanotube Shuttles (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: A novel rotary nanomotor is described using two axially aligned, opposing chirality nanotube shuttles. Based on intershell screw-like motion of nanotubes, rotary motion is generated by electrostatically pulling the two cores together. Simulations using molecular dynamics show the generation of rotation from armchair nanotube pairs and their actuation properties. The simulation results point toward the use of these motors as building blocks in nanoelectromechanical systems and nanorobotic systems for sensing, actuation, and computation applications.
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    Mechatronic Design Evolution Using Bond Graphs and Hybrid Genetic Algorithm With Genetic Programming (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: A typical mechatronic problem (modeling, identification, and design) entails finding the best system topology as well as the associated parameter values. The solution requires concurrent and integrated methodologies and tools based on the latest theories. The experience on natural evolution of an engineering system indicates that the system topology evolves at a much slower rate than the parametric values. This paper proposes a two-loop evolutionary tool, using a hybrid of genetic algorithm (GA) and genetic programming (GP) for design optimization of a mechatronic system. Specifically, GP is used for topology optimization, while GA is responsible for finding the elite solution within each topology proposed by GP. A memory feature is incorporated with the GP process to avoid the generation of repeated topologies, a common drawback of GP topology exploration. The synergic integration of GA with GP, along with the memory feature, provides a powerful search ability, which has been integrated with bond graphs (BG) for mechatronic model exploration. The software developed using this approach provides a unified tool for concurrent, integrated, and autonomous topological realization of a mechatronic problem. It finds the best solution (topology and parameters) starting from an abstract statement of the problem. It is able to carry out the process of system configuration realization, which is normally performed by human experts. The performance of the software tool is validated by applying it to mechatronic design problems.
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    A Load-Lock-Compatible Nanomanipulation System for Scanning Electron Microscope (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper presents a nanomanipulation system for operation inside scanning electron microscopes (SEM). The system is compact, making it capable of being mounted onto and demounted from an SEM through the specimen-exchange chamber (load-lock) without breaking the high vacuum of the SEM. This advance avoids frequent opening of the high-vacuum chamber, thus, incurs less contamination to the SEM, avoids lengthy pumping, and significantly eases the exchange of end effectors (e.g., nanoprobes and nanogrippers). The system consists of two independent 3-DOF Cartesian nanomanipulators driven by piezomotors and piezoactuators. High-resolution optical encoders are integrated into the nanomanipulators to provide position feedback for closed-loop control. The system is characterized, yielding the encoders’ resolution of 2 nm and the piezoactuators’ resolution of 0.7 nm. A look-then-move control system and a contact-detection algorithm are implemented for horizontal and vertical nanopositioning.
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    Direct Optimal Design for Component Swapping Modularity in Control Systems (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper presents a new method for the design of distributed controllers that achieves component swapping modularity (CSM) in control systems. Our approach, referred to as the direct method, is based on solving a bilevel optimization problem to obtain the distributed controller gains directly. In the previously proposed three-step method, the distributed controllers were obtained by matching with a precomputed centralized controller. To illustrate our approach, we consider an engine idle speed control problem, where CSM is achieved with respect to the throttle actuator. The results indicate that the direct method can significantly improve the CSM metric compared to the three-step method. In addition, for a certain distributed control structure, the direct method enables the designer to tradeoff between desired system performance and CSM.
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    Optimal Single-Pulse for Pacemakers Based on a Sinoatrial Model (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This study designs an optimal single-pulse stimulus in pacemakers to treat sudden cardiac arrest, while minimizing the pulse amplitude and reducing the delivered energy. Based on theYanagihara, Noma, and Irisawa (YNI) model that describes the potential behavior of a sinoatrial node in a heart, it develops the frequency entrainment between irregular YNI-response and optimal single-pulse. This study derives the minimum amplitude of the optimal single-pulse for successful entrainment. Simulation results confirm that the proposed optimal single pulse is effective to induce rapid response of sudden cardiac arrest for heartbeat recovery, while a reduction in delivered energy of 91%, comparing with conventional pulse. This study will be helpful not only for the treatment of sudden cardiac arrest but also for prolonging battery longevity and reducing the stimuli pain on patients with implantable medical devices.
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    A Novel Intrinsically Energy Efficient Actuator With Adjustable Stiffness (AwAS) (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: In this paper, a new actuator with adjustable stiffness (AwAS) is presented. AwAS is capable of controlling the position and stiffness of a joint, independently. The proposed actuator can regulate the joint stiffness through a wide range with minimum energy consumption by means of a small motor. This is possible due to its novel mechanical configuration that achieves the stiffness regulation not through the control of spring pretension (as in most of the existing variable stiffness joints) but by using the variable lever arm principle. The regulation of the lever arm length is achieved through the displacement of the spring elements. An important consequence of this mechanism is that the displacement needed to change the stiffness is perpendicular to the forces generated by the spring. This helps to reduce the energy/power required to regulate the stiffness. It is experimentally shown that AwAS is capable of minimizing energy consumption through exploiting the natural dynamics in real time for both fixed and variable frequency motions.
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    Lift Force Control of Flapping-Wing Microrobots Using Adaptive Feedforward Schemes (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper introduces a methodology for designing real-time controllers capable of enforcing desired trajectories on microrobotic insects in vertical flight and hovering. The main idea considered in this work is that altitude control can be translated into a problem of lift force control. Through analyses and experiments, we describe the proposed control strategy, which is fundamentally adaptive with some elements of model-based control. In order to test and explain the method for controller synthesis and tuning, a static single-wing flapping mechanism is employed in the collection of experimental data. The fundamental issues relating to the stability, performance, and stability robustness of the resulting controlled system are studied using the notion of an input-output linear time-invariant (LTI) equivalent system, which is a method for finding an internal model principle (IMP) based representation of the considered adaptive laws, using basic properties of the $z$ -transform. Empirical results validate the suitability of the approach chosen for designing controllers and for analyzing their fundamental properties.
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    Performance-Oriented Adaptive Robust Control of a Class of Nonlinear Systems Preceded by Unknown Dead Zone With Comparative Experimental Results (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper presents an integrated direct/indirect adaptive robust control scheme for a class of nonlinear dynamic systems preceded by unknown nonsymmetric, nonequal slope dead-zone nonlinearity. Departing from existing approximate adaptive dead-zone compensations, this paper uses indirect parameter estimation algorithms along with on-line condition monitoring to obtain an accurate estimation of the unknown dead zone when certain relaxed persistent-excitation conditions are satisfied—a theoretical result that cannot be achieved with the existing methods. Such a result is obtained by making full use of the fact that though not being linearly parameterized globally, the unknown dead zone can still be linearly parameterized perfectly within certain known working ranges. With these accurate estimates of dead-zone parameters, perfect dead-zone compensation is then constructed and utilized in the development of a performance-oriented adaptive robust control algorithm for the overall system. Consequently, asymptotic output tracking is achieved even in the presence of unknown dead zone. In addition, the proposed algorithm achieves certain guaranteed robust transient performance and final tracking accuracy even when the entire system may be subjected to other uncertain nonlinearities and time-varying disturbances. The proposed algorithm is also experimentally tested on a linear motor drive system preceded by a simulated unknown nonsymmetric dead zone. Comparative experimental results obtained validate the effectiveness of dead-zone compensation and the high-performance nature of the proposed approach in practical implementation.
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    An ASIC-Based Vibration Damping System (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: We propose an application-specified integrated circuit (ASIC)-based vibration damping system implementing a semiactive controlling method called synchronized switch damping on inductor (SSDI). The ASIC integrates high-voltage switches and diodes for an “energy-extracting” passive LC shunt circuit and a controlling part for synchronous voltage inversion on the piezoelectric transducer. The controlling part has two channels, each including a range-adaptive voltage divider with protection and a peak detector with switch-control output. The system has been tested with both cantilever beam and three-side-clamped-plate structures. Cantilever beam testing shows a 15 dB damping in forced harmonic regime and a fivefold damping rate in pulsed-excitation transient response. For the three-side-clamped-plate case, wideband SSDI damping effects are observed. The damping efficiency for each mode depends on the electromechanical coupling factor and the mapping of the piezoelectric-insert damping zones. It also depends on the excitation level, and begins to increase rapidly with vibration magnitude when the piezoelectric transducer's voltage peaks exceed a certain threshold voltage $(sim 0.5$ V for the system).
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    Experimental Study of Dielectric Elastomer Actuator Energy Conversion Efficiency (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: Dielectric elastomer actuators (DEAs) have raised interest in the field of mobile robotics. In such a field, actuator design requires a fundamental understanding of DEA energy conversion performance. To provide insight into DEA mechanical work, energy consumption, and efficiency, this paper proposes a simple thermodynamic description completed by experimental loss factors obtained over a broad range of operating conditions and modes. Extensive data gathered on cone actuators show practical efficiency limits of $sim 26%$ for acrylic actuators (VHB 4905) operating under constant charge mode and $sim 18%$ for silicone actuators operating under constant voltage mode. While charge recovery could raise these limits to $sim 60%$ , the study of a DEA rotary motor shows significant efficiency degradation caused by unconstrained electrode boundaries.
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    Spill Detection and Perimeter Surveillance via Distributed Swarming Agents (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: The problem of perimeter detection and monitoring has a variety of applications. In this paper, a hybrid system of finite states is proposed for multiple autonomous robotic agents with the purpose of hazardous spill perimeter detection and tracking. In the system, each robotic agent is assumed to be in one of three states: searching, pursuing, and tracking. The agents are prioritized based on their states, and a potential field is constructed for agents in each state. For an agent in the tracking state, the agent’s location and velocity as well as those of its closest leading and trailing agents are utilized to control its movement. The convergence of the tracking algorithm is analyzed for multiple spills under certain conditions. Simulation and experiment results show that with the proposed method, the agents can successfully detect and track the spills of various shapes, sizes, and movements.
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    Flatness-Based Active Vibration Control for Piezoelectric Actuators (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: The accuracy and resolution of metrological devices (coordinate measuring machines -CMM-, interferometers, etc.) are greatly affected by their robustness to external vibrations. This is especially important in the case of micrometric and nanometric microscopes, such as atomic force microscopes (AFM). In such cases, active vibration control strategies are frequently used, requiring actuators capable of fast and accurate responses. Piezoelectric actuators meet these requirements but they suffer from two major drawbacks, hysteresis, and rate dependence, which must be taken into consideration in the design of the control strategy. The present work proposes a novel active vibration control strategy using piezoelectric actuators for metrological devices affected by low external loads. The control strategy combines a classical sky-hook feedback with a feedforward control. The effect of hysteresis is minimized by compensating the senstivity variations of the actuator in oscillatory movements. For the design of the feedforward law, the present work demonstrates that a stack piezoelectric actuator working as a damper admits a mathematical description fulfilling differential flatness. It also proposes a formulation of the active vibration damping problem in terms of a trajectory tracking command perfectly fitted to the flatness-based control law. This strategy obtains damping improvements in the entire frequency range of operation without the instability problems derived from high feedback gains.
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    Optimal Control for Linear Periodically Time-Varying Systems in Hard Disk Drives (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: Periodicity frequently occurs in hard disk drives (HDDs) whose servo systems with periodic phenomena can be usually modeled as linear periodically time-varying (LPTV) systems. This paper discusses optimal $H_{infty}$ control synthesis for discrete-time LPTV systems via discrete Riccati equations. First, an explicit minimum entropy $H_{infty}$ controller for general time-varying systems is obtained. Subsequently, the developed control synthesis algorithm is applied to LPTV systems and it is shown that the resulting controllers are periodic. The proposed control synthesis technique is evaluated through both single and multirate optimal $H_{infty}$ track-following control designs. The single-rate servo design shows that our proposed control synthesis technique is more numerically robust in calculating optimal $H_{infty}$ controllers for discrete-time linear time-invariant systems than the MATLAB function of “hinfsyn,” while the multirate servo design validates its ability of synthesizing multirate controllers to achieve the robust performance of a desired error-rejection function. Moreover, an experimental study—in which the developed control synthesis algorithm on a real HDD with missing position error signal sampling data is implemented—further demonstrates its effectiveness in handling LPTV systems with a large period and attaining desirable disturbance attenuation.
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    A Novel Surgical Manipulator with Workspace-Conversion Ability for Telesurgery (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper proposes a surgical manipulator with workspace-conversion ability for both minimally invasive surgery (MIS) and open surgery. The focus of the proposed surgical manipulator is on its potential use in places such as battlefields, army camps, and rural areas rather than in civilian hospitals. The proposed surgical manipulator has a workspace for MIS with a virtual remote center of motion and has a workspace for open surgery like that of an articulated manipulator. The mechanism of the surgical manipulator is proposed and implemented in this paper. A new distal rolling joint with two spiral wire ropes is also implemented. Several experiments to validate the feasibility of the surgical manipulator were carried out. Two fundamentals of laparoscopic surgery tasks were performed to compare the performance of the surgical manipulator with other MIS systems. The workspace conversion from MIS to open surgery was implemented. The workspace-conversion ability enables the surgical manipulator to attach or detach the surgical tool unit without human assistance or an assistant robot.
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    Human-Walking-Intention-Based Motion Control of an Omnidirectional-Type Cane Robot (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: An intelligent cane robot is designed for aiding the elderly and handicapped people's walking. The robot consists of a stick, a group of sensors, and an omnidirectional basis driven by three Swedish wheels. Recognizing the user's walking intention plays an important role in the motion control of our cane robot. To quantitatively describe the user's walking intention, a concept called “intentional direction (ITD)” is proposed. Both the state model and the observation model of ITD are obtained by enumerating the possible walking modes and analyzing the relationship between the human–robot interaction force and the walking intention. From these two models, the user's walking intention can be online inferred using the Kalman filtering technique. Based on the estimated intention, a new admittance motion control scheme is proposed for the cane robot. Walking experiments aided by the cane robot on a flat ground and slope are carried out to validate the proposed control approach. The experimental results show that the user feels more natural and comfortable when our intention-based admittance control is applied.
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    Application of Robust Antiwindup Techniques to Dynamically Substructured Systems (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: Dynamically substructured systems (DSS) play an important role in modern testing methods. DSS enables full-size critical components of a complete system to be tested physically in real-time, while the remaining parts of the system run in parallel as a real-time simulation. The performance of DSS testing is influenced by the synchronization of the physical and numerical substructures, which necessitates the design of a DSS controller. Since the testing signal is known and can be assumed to be a perfectly measured disturbance, the DSS control can be viewed as a regulation control problem with measured disturbance attenuation. A potential problem with DSS control arises from actuator saturation, which can be encountered in DSS transfer systems and can significantly influence the testing accuracy. This paper demonstrates the application of a novel robust disturbance rejection antiwindup (AW) technique, to cope with the actuator saturation problem in DSS. Implementation results from a hydraulically-actuated DSS test rig confirm the advantage of using this novel approach over some other existing AW approaches. Furthermore, some specific practical issues are discussed for the AW compensator design, such as the tuning of parameters.
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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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  • 41
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    Mechanisms of the Anatomically Correct Testbed Hand (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: We have built an anatomically correct testbed (ACT) hand with the purpose of understanding the intrinsic biomechanical and control features in human hands that are critical for achieving robust, versatile, and dexterous movements, as well as rich object and world exploration. By mimicking the underlying mechanics and controls of the human hand in a hardware platform, our goal is to achieve previously unmatched grasping and manipulation skills. In this paper, the novel constituting mechanisms, unique muscle to joint relationships, and movement demonstrations of the thumb, index finger, middle finger, and wrist of the ACT Hand are presented. The grasping and manipulation abilities of the ACT Hand are also illustrated. The fully functional ACT Hand platform allows for the possibility to design and experiment with novel control algorithms leading to a deeper understanding of human dexterity.
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    Technologies for Powered Ankle-Foot Orthotic Systems: Possibilities and Challenges (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: Ankle-foot orthoses (AFOs) can be used to ameliorate the impact of impairments to the lower limb neuromuscular motor system that affect gait. Existing AFO technologies include passive devices with fixed and articulated joints, semiactive devices that modulate damping at the joint, and active devices that make use of a variety of technologies to produce power to move the foot. Emerging technologies provide a vision for fully powered, untethered AFOs. However, the stringent design requirements of light weight, small size, high efficiency, and low noise present significant engineering challenges before such devices will be realized. Once such devices appear, they will present new opportunities for clinical treatment of gait abnormalities.
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    Simple 3-D Point Reconstruction Methods With Accuracy Prediction for Multiocular System (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: For the demands of surgical navigation, this paper proposes some simple 3-D point reconstruction methods. These methods regard the perpendicular feet on back-projection lines as the measurements of a 3-D point, since these feet are close to the 3-D point. And then the methods utilize the distance between 3-D point and camera and error propagation rules to adjust the weights of the feet. Finally, the weighted average of these feet is taken as the final estimation for the 3-D point. They are easy to implement, and can be used in both biocular systems and multiocular systems. Especially, as these methods have closed-form solutions, their errors can be predicted by using error propagation rules. Experiments show that they are faster and more accurate than iterative methods and their error covariance matrix can be exactly predicted.
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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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  • 44
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    Triaxial Catheter-Tip Force Sensor for MRI-Guided Cardiac Procedures (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper presents the development and evaluation of a miniature, three-axis, fiber-optic force sensor. The sensor is manufactured using low-cost, high-resolution rapid prototyping techniques and is integrated with a catheter to enable the detection of force during MRI-guided cardiac ablation procedures. The working principle is based on reflective light-intensity modulation. A force sensitive structure (flexure) is employed to vary the distance and orientation of an integrated reflector when a force is applied at the catheter tip. In this way, the light is modulated accordingly and the force can be calculated. The sensor has a high sensitivity and an adequate linear response along all three orthogonal axes $(F_{x}, F_{y}$ , and $F_{z})$ and a working range of around 0.5 N. Low-noise, high-gain electronics provide a force resolution of less than 1 gm force. Experiments demonstrate the ability of the sensor to acquire accurate force readings in a dynamic environment. MRI-compatibility experiments are performed in a clinical 1.5-T MR scanner.
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  • 45
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    Tank-Like Module-Based Climbing Robot Using Passive Compliant Joints (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper proposes an underactuated modular climbing robot with flat dry elastomer adhesives. This robot is designed to achieve high speed, high payload, and dexterous motions that are typical drawbacks of previous climbing robots. Each module is designed as a tread-wheeled mechanism to simultaneously realize high speed and high adhesive force. Two modules are connected by compliant joints, which induce a positive preload on the front wheels resulting in stable climbing and high payload capacity. Compliant joints also help the robot to perform various transitions. An active tail is adopted to regulate the preload of the second module. Force transfer equations are derived and stable operating conditions are verified. The stiffness coefficients of the compliant joints and the active tail force are determined optimally to satisfy the constraints of stable operation. The prototype two-module robot achieves 6- $hbox{cm}/hbox{s}$ speed and 500- $hbox{g}$ payload capacity on vertical surfaces. The abilities of flat surface locomotion, internal, external, and thin-wall transitions, and overcoming various sized obstacles are validated through experiment. The principle of joint compliance can be adopted in other climbing robots to enhance their stability and transition capability.
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  • 46
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    Adaptive Sliding Mode Control for Prosthetic Hands to Simultaneously Prevent Slip and Minimize Deformation of Grasped Objects (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: Adaptive sliding mode and integral sliding mode grasped object slip prevention controllers are implemented for a prosthetic hand and compared to a proportional derivative shear force feedback slip prevention controller as well as a sliding mode controller without slip prevention capabilities. Slip of grasped objects is detected by band-pass filtering the shear force derivative to amplify high frequency vibrations that occur as the grasped object slides relative to the fingers. The integral sliding mode slip prevention controller provides a robust design framework for slip prevention while addressing the issue of reducing the amount of deformation that the grasped object experiences to prevent slip. Averaged results from bench top experiments show that the integral sliding mode slip prevention controller produces the least amount of deformation to the grasped object while simultaneously preventing the object from being dropped.
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    Passive Multirate Wave Communications for Haptic Interaction in Slow Virtual Environments (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: Haptic interaction in slow virtual environments (VEs) can become unstable due to the phase lag introduced in the control loop by the slow update rate of the VE. Increasing the physical damping and/or limiting the contact stiffness rendered to users can mitigate the destabilizing effect of the low VE update rate. However, large physical damping and compliant virtual contacts decrease the sense of presence in VEs, especially during interaction with rigid virtual objects. To increase the maximum virtual contact stiffness that can be rendered to users without increasing the interface damping, this paper proposes a control strategy based on multirate wave communications between a haptic interface and a VE updated at a slow and fixed rate. The multirate wave communications are shown to be guaranteed passive only if the decrease of the wave sampling rate at the connection between the haptic interface and the VE does not cause aliasing. Therefore, an antialiasing low-pass filter is placed before the wave rate drop in the communications. The passivity condition is verified analytically and numerically for multirate haptic interaction in VEs with various contact stiffnesses and update rates. The transparency of haptic interaction in slow VEs to which users connect via passive multirate wave communications is investigated analytically in the frequency domain. Experiments validate that passive multirate wave communications can render stiffer contact in slow VEs than conventional direct coupling, and illustrate the destabilizing effect of the aliasing caused by the sampling rate drop in the communications.
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    A Direct Method of Adaptive FIR Input Shaping for Motion Control With Zero Residual Vibration (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: In this paper, we describe a method of adaptive feedforward control that can achieve zero residual vibration in rest-to-rest motion of a vibratory system. When a finite impulse response filter is used to preshape a command input, zero residual vibration is achieved for any input signal if the impulse response of the filter satisfies a condition of orthogonality with respect to the impulse response of the system under control. An equivalent condition involving sets of measured I/O data is derived that forms the basis of a direct method of adaptively tuning filter coefficients during motion. The approach requires no prior model of the system and can be applied to multimode and multiinput systems under arbitrary and nonrepetitive motions. Versions of the algorithm employing recursive least-squares techniques are developed and analyzed. As a special case of the general adaptation problem, tuning of impulse-based shapers with fixed impulse timings can also be achieved. An experimental implementation on a two-link rigid-flexible manipulator is presented. The method is thereby shown to be realizable and effective for real-world motion control problems.
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    IEEE/ASME Transactions on Mechatronics information for authors (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
    Details
    Publication Date: 2012-09-25
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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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    Ultrahigh-Acceleration Moving-Permanent-Magnet Linear Synchronous Motor With a Long Working Range (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-25
    Description: This paper describes a linear motor design for ultrahigh acceleration and high velocity, as well as the driving performance of the motor. First, because of its ease of control, a moving-permanent-magnet linear synchronous motor (MPM LSM) was selected. The overall structure of the motor, which consists of a table to which the permanent magnets (PMs) are attached and two fixed electromagnet (EM) lines between which the PMs move, was selected based on the simplicity of the structure and the ease of gap adjustment. The dimensions of the EMs and PMs are optimized numerically to achieve a high thrust density that can provide an acceleration of 100G or greater to the mover, which comprises PMs, spacers, and a frame. The prototype MPM LSM has a working range of 1.5 m. The mover, including the guide parts, has a length of 444 mm and a mass of 4.79 kg. The measured peak thrust was greater than $5 times 10^3$ N, and the measured average thrust was $4.03 times 10^3$ N. The prototype driven by a rectangular current command produced a maximum acceleration of greater than 100G and a velocity higher than 12 m/s for a moving distance of 0.6 m.
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    Three-Fingered Eight-DOF Hand That Exerts 100-N Grasping Force With Force-Magnification Drive (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-04-04
    Description: This paper presents a three-fingered, eight-DOF hand, 100 N Hand II, which can exert a grasping force of 100 N. A force-magnification drive, which can maintain a large grasping force without energy consumption, allows the hand to exert such large grasping force, and a high-speed driving mechanism enables all joints to perform high-speed motions of over 400°/s. In our previous prototype (100 N Hand I), a screw and nut mechanism was used to implement force magnification. The linear motion of this mechanism was translated to rotational joint motion via a linkage mechanism, producing a relatively small motion range for each joint and with large palm dimensions. 100 N Hand II employs a worm gear instead of a screw and nut mechanism, so it can magnify the torque at an arbitrary joint angle. This improved force-magnification drive increases the motion range of each joint and reduces the palm size. The force and speed are confirmed experimentally.
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    Reality-Based Real-Time Cell Indentation Simulator (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-04-04
    Description: Training simulators that provide realistic visual and haptic feedback during cell indentation tasks are currently investigated. Complex cell geometry inherent to biological cells and intricate mechanical properties drive the need for precise mechanical and numerical modeling to assure accurate cell deformation and force calculations. Advances in alternative finite-element formulation, such as the mass-tensor approach, have reached a state, where they are applicable to model soft-cell deformation in real time. The geometrical characteristics and the mechanical properties of different cells are determined with atomic force microscopy (AFM) indentation. A real-time, haptics-enabled simulator for cell centered indentation has been developed, which utilizes the AFM data (mechanical and geometrical properties of embryonic stem cells) to accurately replicate the indentation task and predict the cell deformation during indentation in real time. This tool can be used as a mechanical marker to characterize the biological state of the cell. The operator is able to feel the change in the stiffness during cell deformation between fixed and live cells in real time. A comparative study with finite-element simulations using a commercial software and the experimental data demonstrate the effectiveness of the proposed physically based model.
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    Servo Control of Magnetic Gears (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-04-04
    Description: This paper considers the analysis and application of magnetic gearbox and magnetic coupling technologies and issues surrounding their use in high performance servo control systems. An analysis of a prototype magnetic coupling is used as a basis for demonstrating the underlying nonlinear torque transfer characteristics, nonlinear damping, and “pole-slipping” features when subjected to overtorque (overload) conditions. It is also shown how pole-slipping results in a consequential loss of control. A theoretical investigation into the suppression of mechanical torsional resonances in transmission systems encompassing these highly compliant magnetically coupled components is included along with experimental results from a demonstrator drive train. Automatic detection of pole slipping and a reconfigurable controller are also investigated. By addressing these issues, the proposed techniques extend the application scope of magnetic gear/coupling technologies to more demanding applications than those hitherto considered possible-specifically, for use in servo control systems and high-bandwidth mechanical drive trains.
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    Sliding-Mode Antisway Control of an Offshore Container Crane (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-04-04
    Description: In this paper, a sliding-mode control for an offshore container crane is discussed. The offshore container crane is used to load/unload containers between a huge container ship (called the “mother ship”) and a smaller ship (called the “mobile harbor”), on which the crane is installed. The purpose of the mobile harbor is to load/unload containers in the open sea and transport them to shallower water where they can be offloaded at existing conventional ports, thereby obviating the need for expansive and expensive new facilities. The load/unload control objective is to suppress the pendulum motion (i.e., “sway”) of the load in the presence of the wave- and wind-induced movements (heave, roll, and pitch) of the mobile harbor. A new mechanism for lateral sway control, therefore, is proposed as well. A sliding surface is designed in such a way that the longitudinal sway of the load is incorporated with the trolley dynamics. The asymptotic stability of the closed-loop system is guaranteed by a control law derived for the purpose. The proposed new mechanism can suppress lateral sway, which functionality is not possible with conventional cranes. Simulation results are provided.
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    Small-Strain Modeling of Helical Dielectric Elastomer Actuators (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-04-04
    Description: The helical configuration represents one of the few currently available to implement contractile Dielectric Elastomer (DE) actuators. While experimental investigations have previously been reported, no model is currently available to assist design. This paper describes a simple analytical electromechanical model of helical DE actuators, applicable for relatively small strains (〈;10%), consistently with the following assumptions: the effective electrostatic pressure exerted by the compliant electrodes was considered to be constant during actuation; the elastomer was assumed to behave like a linearly elastic body. According to these assumptions, the electromechanical model was derived by means of independent electrical and mechanical analyses, the latter being based on linear elasticity. To validate the model, theoretical predictions were compared with experimental data measured from a silicone-made prototype actuator. Pros and cons of the modeling approach in the small-strain range are discussed.
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    Piezoelectric Tweezer-Type End Effector With Force- and Displacement-Sensing Capability (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: This paper presents the design and development of robotic tweezers with a force- and displacement-sensing capability driven by piezoelectric stack actuators. In order to satisfy sufficient stroke and tip force for future medical operations, a rhombus strain amplification mechanism is adopted. One of the serially connected piezoelectric stack actuators nested in the end effector is used as a force sensor. The force–displacement characteristics at the outermost layer with respect to the forces of the innermost PZT actuators (i.e., forward model) is obtained from a lumped parameter model of the rhombus strain amplification mechanism and a Bernoulli–Euler beam model of the tweezer-style end effector. The end-effector tip force and displacement are measured using an inverse model of the nested multilayer structure relating these quantities to an induced voltage across the innermost PZT actuator. The prototype end effector has the size of 69 mm (length)  $times$ 14 mm (height) $times$ 13 mm (width). The performance test shows that the prototype has 1.0-N force and 8.8-mm displacement at the tip. The sensing accuracy was also evaluated through experiments. The experimental results show that the prototype has mean error of 0.086 N for force and 0.39 mm for displacement, which are equivalent to 11% of their maximum measurable values.
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    IEEE/ASME Transactions on Mechatronics information for authors (2012)
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    Publication Date: 2012-09-08
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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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    Nonlinear System Modeling, Optimal Cam Design, and Advanced System Control for an Electromechanical Engine Valve Drive (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: A cam-based shear force-actuated electromechanical valve drive system offering variable valve timing in internal combustion engines was previously proposed and demonstrated. To transform this concept into a competitive commercial product, several major challenges need to addressed, including the reduction of power consumption, transition time, and size. As shown in this paper, by using nonlinear system modeling, optimizing cam design, and exploring different control strategies, the power consumption has been reduced from 140 to 49 W (65%), the transition time has been decreased from 3.3 to 2.7 ms (18%), and the actuator torque requirement has been cut from 1.33 to 0.30 N·m (77%).
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    Modeling and Iron-Effect Analysis on Magnetic Field and Torque Output of Electromagnetic Spherical Actuators With Iron Stator (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: This paper presents a three-degree-of-freedom permanent magnet (PM) spherical actuator with an iron stator. The major contribution of this paper is to study the effect of iron stator on the magnetic field and torque output of the electromagnetic spherical actuator quantitatively and qualitatively. It could be helpful for actuator design optimization. Based on the poles’ arrangement and the iron boundary, the magnetic field of the PM-pole rotor and the actuator torque are formulated analytically. The effect of iron stator on the magnetic field and torque output is analyzed with respect to structural parameters. The result shows that the iron stator can increase the radial component of the flux density and thus the actuator torque output significantly.
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    Design and Robust Repetitive Control of a New Parallel-Kinematic XY Piezostage for Micro/Nanomanipulation (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: This paper presents mechanism and controller design procedures of a new piezoactuated flexure XY stage for micro-/nanomanipulation applications. The uniqueness of the proposed stage lies in that it possesses an integrated parallel, decoupled, and stacked kinematical structure, which owns such properties as identical dynamic behaviors in X and Y axes, decoupled input and output motion, single-input-single-output (SISO) control, high accuracy, and compact size. Finite element analysis (FEA) was conducted to predict static performance of the stage. An XY stage prototype was fabricated by wire electrical discharge machining (EDM) process from the alloy material Al7075. Based on the identified plant transfer function of the micropositioning system, an $H_infty$ robust control combined with a repetitive control (RC) was adopted to compensate for the unmodeled piezoelectric nonlinearity. The necessity of using such a combined control is also investigated. Experimental results demonstrate that the $H_infty$ plus RC scheme improves the tracking response by 67% and 28% compared to the stand-alone $H_infty$ for 1-D and 2-D periodic positioning tasks, respectively. Thus, the results illustrate the effectiveness of the proposed mechanism design and control approach.
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    Algorithms for Real-Time Estimation of Individual Wheel Tire-Road Friction Coefficients (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: It is well recognized in the automotive research community that knowledge of the real-time tire-road friction coefficient can be extremely valuable for active safety applications, including traction control, yaw stability control and rollover prevention. Previous research results in literature have focused on the estimation of average tire-road friction coefficient for the entire vehicle. This paper explores the development of algorithms for reliable estimation of independent friction coefficients at each individual wheel of the vehicle. Three different observers are developed for the estimation of slip ratios and longitudinal tire forces, based on the types of sensors available. After estimation of slip ratio and tire force, the friction coefficient is identified using a recursive least-squares parameter identification formulation. The observers include one that utilizes engine torque, brake torque, and GPS measurements, one that utilizes torque measurements and an accelerometer and one that utilizes GPS measurements and an accelerometer. The developed algorithms are first evaluated in simulation and then evaluated experimentally on a Volvo XC90 sport utility vehicle. Experimental results demonstrate the feasibility of estimating friction coefficients at the individual wheels reliably and quickly. The sensitivities of the observers to changes in vehicle parameters are evaluated and comparisons of robustness of the observers are provided.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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    Improved Control Design Methods for Proximate Time-Optimal Servomechanisms (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: It is well known that minimum time-optimal control for servomechanisms can generate chattering in the presence of measurement noises, feedback delays, or model uncertainties; thus, it is not practical in applications. Maybe, the most popular alternative approach is the so-called proximate time-optimal servomechanism (PTOS). This approach starts with a near-time-optimal controller and, then, switches to a linear controller when the system output is close to a given target. However, the chattering problem is avoided at the expense of a slower time response. In this paper, two methods for eliminating the conservatism present in the PTOS are proposed. The first method applies a dynamically damped controller that allows the so-called acceleration discount factor to be pushed arbitrarily close to 1. The second method applies a continuous nonlinear control law that makes use of no switching. Experimental results show that the proposed designs practically eliminate the conservatism in the traditional PTOS.
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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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    Control of a Duct Flow Network for Wind Display in a Virtual Environment (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: Control of flow in duct networks has a myriad of applications ranging from heating, ventilation, and air-conditioning to blood flow networks. The system considered here provides vent velocity inputs to a novel 3-D wind display device called the TreadPort Active Wind Tunnel. An error-based robust decentralized sliding-mode control method with nominal feedforward terms is developed for individual ducts while considering cross coupling between ducts and model uncertainty as external disturbances in the output. This approach is important due to limited measurements, geometric complexities, and turbulent flow conditions. Methods for resolving challenges such as turbulence, electrical noise, valve actuator design, and sensor placement are presented. The efficacy of the controller and the importance of feedforward terms are demonstrated with simulations based upon an experimentally validated lumped parameter model and experiments on the physical system. Results show significant improvement over traditional control methods and validate prior assertions regarding the importance of decentralized control in practice.
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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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    Laser-Based Kinematic Calibration of Robot Manipulator Using Differential Kinematics (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: This paper proposes a novel systematic technique to estimate entire kinematic parameter errors of robot manipulator. Small errors always exist in link length and link twist for physical manipulators, which affect the precision in kinematic equations leading to calculate wrong joint angle values in inverse kinematic equations. In order to solve these problems, the proposed technique employs a structured laser module (SLM), a stationary camera, the Jacobian matrices, and an extended Kalman filter (EKF). The SLM is attached to the end-effector of the manipulator arm and the stationary camera is used to determine an accurate position where the laser comes out. Variances between actual and measured positions of laser beams are represented by the Jacobian matrices formulated from differential kinematics. Then, the EKF is used to estimate kinematic parameters. Effectiveness of the proposed technique is verified with $hbox{7}$ DOF humanoid manipulator arm by computer simulation and $hbox{4}$ DOF manipulator by actual experiment.
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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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    Obstacle Avoidance Policies for Cluster Space Control of Nonholonomic Multirobot Systems (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: The cluster space control technique promotes simplified specification and monitoring of the motion of mobile multirobot systems of limited size. In this publication, we summarize the definition of the cluster space framework and introduce a multirobot cluster space controller specific for unicycle-like nonholonomic mobile robots. The controller produces cluster commands that translate into valid robot-level motions. We then study the closed-loop system stability in the Lyapunov sense. Two different obstacle avoidance algorithms are proposed and the stability of the resulting systems is also addressed. Experimental tests with a three-robot system and simulation results with a ten-robot system verify the functionality of the proposed approaches.
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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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    Motor Torque and Magnetic Levitation Force Generation in Bearingless Brushless Multipole Motors (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: In this paper, the principles of motor torque and suspension force generation in bearingless brushless motors with high pole numbers are explained, graphically illustrated, and analyzed in detail. The necessary harmonic components of the flux density distribution in the air gap are calculated and it is visualized how these can be generated by superposition of harmonics depending on a specific rotor pole/stator slot ratio. Especially, for bearingless motors with a fractional pole/slot ratio, it is shown how superior and precise suspension performance and high rotational speeds can be achieved. A basic analytical model is introduced and the considerations are exemplified for a 26-pole/24-slot bearingless brushless single-layer motor with concentrated windings compared to alternative feasible configurations. Adequate performance criteria for the motor as well as the bearing comparison are defined.
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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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    Impedance Modeling and Analysis for Piezoelectric Energy Harvesting Systems (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: In a piezoelectric energy harvesting (PEH) system, the dynamics and harvested power vary with different interface circuits connected. The impedance matching theory was regarded as the theoretical base for the harvested power optimization in the harmonically excited PEH systems. The previous literature started the impedance analyses based on the proposition that the harvested power is maximized when the output impedance of the piezoelectric transducer is matched by the input impedance of the harvesting circuit. Yet, retrospecting to the origin of the impedance matching theory, a philosophical problem is found with this proposition. Moreover, the definition, constraint, and composition of the equivalent impedance in the real (nonlinear) harvesting circuits were not clear as well. This paper clarifies these concepts and provides the impedance modeling and analysis for the PEH systems with different interface circuits, including standard energy harvesting, parallel synchronized switch harvesting on inductor, and series synchronized switch harvesting on inductor. The equivalent impedance network and corresponding mechanical schematics of a general PEH system are proposed. The difference between the PEH equivalent impedance network and the conventional impedance network is discussed. The harvested power is investigated based on this impedance analysis. The analytical results show good agreement with the experiments carried out on a base excited PEH device.
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    Modeling and Control of a Nonuniform Vibrating String Under Spatiotemporally Varying Tension and Disturbance (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: In this paper, robust adaptive boundary control is developed for a class of flexible string systems under unknown spatiotemporally varying distributed disturbance and time-varying boundary disturbance. The vibrating string is nonuniform since the spatiotemporally varying tension applied to the system. The nonuniform vibrating string system is represented by a nonlinear nonhomogeneous partial differential equation (PDE) and two ordinary differential equations (ODEs). Model-based control is first proposed at the right boundary of the string to suppress the vibration of the flexible nonuniform string system. To compensate for the system parametric uncertainties, robust adaptive boundary control is developed. With the proposed control, the uniformly ultimate boundness of the closed-loop system is demonstrated via Lyapunov’s direct method. The state of the nonuniform string system is proven to converge to a small neighborhood of zero by appropriately choosing the design parameters. Simulations are provided to illustrate the effectiveness of the proposed control.
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    Have you visited lately? www.ieee.org (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
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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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    Decoupling Control of Magnetically Suspended Rotor System in Control Moment Gyros Based on an Inverse System Method (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: To radically eliminate the influence of gyroscopic effects on system stability and to improve the performances of high-precision, fast-response for the high-speed magnetically suspended rotor system in a control moment gyro, this paper proposes a control strategy that combines inverse system method and internal model control. The stability and robustness problems induced by current-mode linearization have been successfully solved by introducing phase-lead compensation and internal model controller. The effectiveness and superiority of the proposed strategy have been demonstrated by both simulation and experimental results.
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    Snake Robot Locomotion in Environments With Obstacles (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: As a step toward enabling snake robots to move in cluttered environments, this paper proposes a control strategy that combines environment adaptation with directional control in order to achieve straight line path following control in environments with obstacles. Moreover, the paper presents the design of a mechanical snake robot with tactile sensing capabilities that allow the robot to sense its environment. Experimental results are presented where the snake robot is successfully propelled through different obstacle environments with the proposed control strategy.
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    2012 Index IEEE/ASME Transactions on Mechatronics Vol. 17 (2012)
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    Publication Date: 2012-09-08
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    IEEE/ASME Transactions on Mechatronics publication information (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
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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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    Electromagnetic Synchronized Switch Damping for Vibration Control of Flexible Beams (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: An electromagnetic synchronized switch damper integrated with the receding horizon optimal control law was developed to enhance the damping characteristics of flexible beam structures subject to dynamic loads. The damper system consists of a magnet attached to an aluminum beam and a coil placed at the bottom of the magnet. Both ends of the coil were connected to the external switching circuit, which includes an electromagnetic transducer, a capacitor, a resistor, and a switcher designed for efficient energy dissipation to reduce structural vibration. Further, a coil-based self-sensing scheme without additional measurement of the displacement and the velocity was successfully applied to the present switching scheme without performance loss. The present results show that the electromagnetic synchronized switching scheme can be successfully employed to improve the electromagnetic damping of the flexible structures, resulting in the robust vibration control regardless of changes to the circuit parameters.
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    Autonomous Oscillation Control Loop Design for Amplitude Controlled, Frequency Read-Out-Type Resonant Sensors (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: This paper suggests an autonomous oscillation control loop for frequency read-out-type resonant sensors that produces outputs of variable frequency depending on the input of an external physical quantity. The design goal of the oscillation loop is simultaneously to stabilize the resonance characteristics of the sensor and to automatically track the resonant frequency in order to guarantee highly reliable sensor performance. To this end, the concept of automatic gain control (AGC) is applied so that the loop is designed to maintain the oscillation amplitude as one control objective. The second control objective is to achieve resonance condition tracking even when external influences such as disturbance and noise exist. For the verification of the proposed control loop design, an example resonant sensor system is modeled, and a control loop and controller that accompany the system are also designed. Finally, the proposed loop performance was demonstrated via simulations which consider practical noise elements. The theoretical results were further verified via sensor's transient responses and noise analysis.
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    3-D Active Sensing in Time-Critical Urban Search and Rescue Missions (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: Mobile robots are currently being developed to help rescue workers in urban disaster environments to search for survivors. Our research focuses on developing robust 3-D sensors that can be used in robotic rescue missions to map these unknown cluttered environments and determine the locations of victims. This paper presents the development of a new active 3-D sensory system for robotic search and rescue in unknown cluttered urban disaster environments. The sensory system can provide high resolution 2-D and 3-D information of a cluttered scene that can be used by a robot operator for real-time viewing as well as to develop a 3-D map of the disaster scene. The main advantage of the proposed sensory system is its robustness to cluttered, and dark and dimly lit environments found in disaster areas. Experimental results are presented to verify the performance of the sensory system in obtaining 3-D sensory information of rubble piles in Urban Search and Rescue like environments as well as the potential use of the sensor for 3-D mapping applications in these unknown environments.
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    Design, Construction, and Modeling of a Flexible Rotor Active Magnetic Bearing Test Rig (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-09-08
    Description: A successful industrial application of flexible rotors supported on active magnetic bearings (AMBs) requires careful attention not only to rotordynamic design aspects but also to electromagnetic and feedback control design aspects. Model-based control design provides the framework to ensure efficient, reliable, and safe operation of turbomachinery on AMBs. This paper describes in detail the design, construction, and modeling process for a high performance AMB test rig which typifies a small industrial super-critical centrifugal compressor. A unique aspect of the design are the two additional radial AMBs to allow the application of simulated destabilizing fluid or electromagnetic forces to the rotor. These forces are difficult to predict and can lead to rotordynamic instability of industrial machinery if not properly accounted for. This test rig provides a realistic platform to evaluate stabilizing control algorithms for high performance turbomachinery. A complete model of rotor, AMB actuators and accompanying electronics, is constructed from individually verified component models. Model validation is confirmed through the successful design and implementation of a $mu$ -synthesis controller.
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    A New Approach for Modeling Piezoresistive Force Sensors Based on Semiconductive Polymer Composites (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-04
    Description: Semiconductive polymer composites are used in a wide range of sensors and measurement devices. This paper discusses the development of a model and a new theoretical formulation for predicting piezoresistive behavior in semiconductive polymer composites, including their creep behavior and contact resistance. The relationship between electrical resistance and force applied to the piezoresistive force sensor can be predicted by using the proposed theoretical formulation. In order to verify the proposed formulation, the piezoresistive behavior of Linqstat, a carbon-filled polyethylene, was modeled mathematically. In addition, some experimental tests, such as thermo gravitational analysis and SEM, have been performed on Linqstat to find the volume fraction and size of carbon particles, which are essential for modeling. In addition, on a fabricated force sensor using Linqstat, a force versus resistance curve was obtained experimentally, which verified the validity and reliability of the proposed formulation.
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    Control of IPMC Actuators for Microfluidics With Adaptive “Online” Iterative Feedback Tuning (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-08
    Description: Ionic polymer metal composites (IPMCs) are actuators that lend themselves well to microfluidic applications due to their lightweight, flexibility, ability to tailor their geometry, as well as the capability to be miniaturized and implanted into microelectro-mechanical systems devices. The major issue with implementing IPMCs into such devices is the ability to control their actuation and, hence, their reliability over a long period of time. This paper presents a novel iterative feedback tuning (IFT) algorithm that tunes the system online using experimental data during normal system operation. The controller adaptively tunes the highly nonlinear and time varying IPMC for a newly proposed micropump. This demonstrates the ability of the system to have a reliable performance over a long period of time without the need of any offline tuning or system identification. The system was run for 20 controller updates. This corresponds to 10 and 20 min of operation for the 0.1 and 0.05 Hz reference inputs, respectively. 100 and 300 μm amplitudes were tested to demonstrate the ability of the system to adaptively tune to different input signals. Experimental results show the newly proposed IFT algorithm has successfully tuned the controller to achieve up to 92% better performance when compared with a conventional model-based tuned controller.
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    Design, Sensing, and Control of a Scaled Wind Tunnel for Atmospheric Display (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-08
    Description: Creating wind within virtual environments (e.g., wind display) is a challenging problem with a potential to develop immersive atmospheric display for virtual reality systems. This paper describes synergistic mechatronics design, sensing, and control of a scaled active wind tunnel, which establishes a practical foundation for atmospheric display in virtual environments. Our approach combines numerical simulations and physical experiments in order to achieve geometric design of the physical system while simultaneously developing simplified control laws using limited sensing and computational resources. As experimental results indicate, several physical modifications and unique sensor and control law developments are necessary to achieve controlled wind flow in a physical system. These results validate system performance over a wide range of wind speeds and angles, which serves as a basis for future development of full-scale virtual reality systems with atmospheric display.
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    Development of 3-DOF Inchworm Mechanism for Flexible, Compact, Low-Inertia, and Omnidirectional Precise Positioning: Dynamical Analysis and Improvement of the Maximum Velocity Within No Slip of Electromagnets (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-08
    Description: In this paper, we describe the dynamical analysis and improvement of the maximum velocity within no slip of electromagnets for a 3-DOF inchworm mobile mechanism. The mechanism consists of four “Moonie” piezoelectric actuators and a pair of electromagnets and moves like an inchworm with less than 10-nm resolution. We calculate the dynamical relationship among 3-DOF motion, four piezoelectric displacements, drive frequency, magnetic force, mass of electromagnets, and spring constants of mechanical amplifiers. We also calculate the maximum velocity with no slip of electromagnets because the no-slip condition is significant for positioning repeatability. In several experiments, we have checked the theoretical validity and positioning repeatability. The design procedure, basic performance, and chip-mounting applications are also discussed for cultivating flexible, compact, low-inertia, and omnidirectional precise positioning technology.
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    An Orthogonal Global Task Coordinate Frame for Contouring Control of Biaxial Systems (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-08
    Description: Recent research on the coordinated control of biaxial machines for precise contour following has been using various locally defined task coordinate frames (LTCF) “attached” to the desired contour to approximately calculate the contour error for feedback controller designs. Contour error, by definition, is a geometrical quantity depending on the shape of the desired contour only and has nothing to do with the desired motion on the contour. As such, all those moving LTCF-based algorithms have to make the assumptions that the position tracking errors are much smaller than the radius of curvature of the desired contour and the calculated contour error is only an approximation of actual contour error. In contrast, this paper presents an orthogonal global task coordinate frame (GTCF) in which the calculation of contour error is exact to the first-order approximation of the actual contour error, no matter how large the position tracking errors would be. A systematic way to construct curvilinear coordinates of the proposed GTCF using any description of the geometry of the desired contour in a two-dimensional space is also given. Contouring control of a linear motor driven biaxial high-speed industrial gantry is then used as a case study. A simplistic direct adaptive robust controller (ARC) is constructed to deal with the effect of strong coupling of the system dynamics in the task space in addition to modeling uncertainties. The proposed GTCF-based ARC algorithm, along with the traditional LTCF-based ARC ones, are implemented and comparative experimental results are presented. The results validate the effectiveness of the proposed GTCF approach for free-form contouring control with large curvatures and arbitrary position tracking errors and confirm the excellent contouring performance of the proposed approach in general.
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    Detection of Magnetic Object Movements by Flux Density Tracking Control (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-08
    Description: In this paper, a motion trajectory detecting method that permits tracking of magnetic objects is investigated by the magnetic flux density of a 3-D Hall probe. Inaccurate motion trajectory information may be produced physically due to the measured magnetic field signal altering as the distance between the Hall probe and the object changes. A magnetic flux feedback control is proposed such that the motion command of the control system is generated in real time by the coordinated geometry of the Hall probe and the magnetic object. The magnetic tracking control system consists of an inner position/velocity control loop and an outer magnetic control loop that employs a position vector expressed in terms of the magnetic flux density to detect the relative distance between a magnetic object and the Hall probe. The measurement of the Hall probe can, hence, be kept within an effective distance such that the motion trajectory of the measured magnetic object can be detected accurately for the case of large movements. An experimental setup with a five-axis servo mechanism is constructed for the validation study, in which the three-axis moving table is utilized to control the motion of the Hall probe, and the other two-axis moving table facilitates the movement of the magnetic object. A circular motion and a rhomboidal path are given to verify the improvement of the proposed detecting method.
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    A Negative Imaginary Approach to Modeling and Control of a Collocated Structure (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-08
    Description: A transfer-function is said to be negative imaginary if the corresponding frequency response function has a negative definite imaginary part (on the positively increasing imaginary axis). Negative imaginary transfer-functions can be stabilized using negative imaginary feedback controllers. Flexible structures with compatible collocated sensor/actuator pairs have transfer-functions that are negative imaginary. In this paper a model structure that typically represents a collocated structure is considered. An identification algorithm which enforces the negative imaginary constraint is proposed for estimating the model parameters. A feedback control technique, known as integral resonant control (IRC), is proposed for damping vibrations in collocated flexible structures. Conditions for the stability of the proposed controller are derived, and shown that the set of stabilizing IRCs is convex. Finally, a flexible beam with two pairs of collocated piezoelectric actuators/sensors is considered. The proposed identification scheme is used determining the transfer-function and an IRC is designed for damping the vibrations. The experimental results obtained are reported.
    Print ISSN: 1083-4435
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 85
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    A Direct Visual Servoing Scheme for Automatic Nanopositioning (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-08
    Description: This paper demonstrates an accurate nanopositioning scheme based on a direct visual servoing process. This technique uses only the pure image signal (photometric information) to design the visual servoing control law. With respect to traditional visual servoing approaches that use geometric visual features (points, lines $ldots$ ), the visual features used in the control law is the pixel intensity. The proposed approach has been tested in term of accuracy and robustness in several experimental conditions. The obtained results have demonstrated a good behavior of the control law and very good positioning accuracy. The obtained accuracies are 89 nm, 14 nm, and $0.001^circ$ in the $x$ -, $y$ -, and $theta$ -axes of a positioning platform, respectively.
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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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  • 86
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    IEEE/ASME Transactions on Mechatronics publication information (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-08
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 87
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    A Novel Discrete ARMA-Based Model for Piezoelectric Actuator Hysteresis (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-08
    Description: Hysteresis is an important nonlinear effect exhibited by piezoelectric actuators (PEAs) and its modeling has been drawing considerable attention. This paper presents the development of a novel discrete model based on the concept of autoregressive moving average for the PEA hysteresis, and its parameter identification method as well. Experiments were carried out to verify the effectiveness of the developed model. The result obtained shows that the developed model can well represent the PEA hysteresis, with improved performance over an existing discrete hysteresis model.
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 88
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    Two-Period Repetitive and Adaptive Control for Repeatable and Nonrepeatable Runout Compensation in Disk Drive Track Following (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-08
    Description: This paper presents the design and implementation of an integrated two-period repetitive and adaptive control scheme to reject both repeatable and nonrepeatable disturbances in the track-following servo control of a hard disk drive read-write head. A baseline linear quadratic Gaussian controller is augmented by a plug-in repetitive controller to reject periodic disturbances with two periods, one that is synchronized with the disk rotation and the other that is not, and an additional adaptive-Q control scheme to reject the remaining aperiodic and random disturbances. The adaptive-Q control algorithm uses the well-known result that all stabilizing controllers for a plant can be synthesized by conveniently parameterized augmentation to a nominal controller. The Q-filter is restricted to a finite impulse response filter, which minimizes the root-mean-square value of the track-following error. Experimental results show substantial performance improvement for the two-stage augmented controller over the single-stage repetitive or adaptive-Q control acting alone.
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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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  • 89
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    Optimized Control of Semiactive Suspension Systems Using H $_infty$ Robust Control Theory and Current Signal Estimation (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-08
    Description: In this paper, an optimized modified skyhook control for the semiactive Macpherson suspension system, equipped with a magnetorheological (MR) damper, is investigated. Using H $_infty$ robust control theory and a 2-D dynamic model, including the kinematics of the suspension system, a robust output feedback controller is developed. The combination of a linear matrix inequality (LMI) solver and genetic algorithm (GA) is adopted to optimize the control gains. Further a 3-D kinematic model is introduced to evaluate the kinematic performance of the controlled suspension system. An inverse dynamic model of the MR damper is obtained based on the experimental results for tuning the input current signal. The effectiveness of the control system is discussed and validated through the simulations and experiment.
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    Published by Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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  • 90
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    Resonance Tracking of Nonlinear MEMS Resonators (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-08
    Description: In this paper, the frequency control loop performance of nonlinear microelectromechanical resonators is investigated. A phase-locked loop (PLL) controller is used to track the resonance frequency of a nonlinear resonator and to compensate for the changes in the natural frequency. Based on the harmonic balance approach, governing equations of the dynamics of a nonlinear resonator are obtained, and using the mathematical model of the PLL, a new stability criterion for the closed-loop system is proposed. The relationship between the amplitude of the external driving force command and the stability of the control loop is elaborated for both hardening and softening nonlinearities. A nonlinear gain control strategy is proposed for the frequency-tracking loop, and its effectiveness is shown through simulation studies.
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    Quality without compromise (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-08
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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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    Have you visited lately? www.ieee.org (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-08
    Print ISSN: 1083-4435
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    Topics: Electrical Engineering, Measurement and Control Technology , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics , Technology
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  • 93
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    A Robot-Assisted Back-Imaging Measurement System for Transparent Glass (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-08
    Description: Though the 3-D sensing technique has achieved many successes in various applications, it is still a challenge for commercialized sensors to measure the 3-D shape of a transparent, mirror-like reflection-based glass surface. The reason is that the well-known triangle-based structure lighting method is only valid for parts with diffuse reflection property. To measure the 3-D profile of a glass surface, specially an automotive windshield, a new robot-assisted back-imaging system is introduced in this paper. Using the mirror property of the glass, encoded patterns are projected from an LCD monitor and recorded by two cameras. The distortion of structured light patterns, caused by the curvature of the glass, is used to calculate the 3-D shape. Different from the traditional structured light methods, the back-imaging system can simultaneously calculate both the coordinates and normal of the surface, which is particularly required by the glass industry. Furthermore, this paper also introduces a robot planning/control system that integrates the measurement constraints, vision model of the new back-imaging sensor, and the computer-aided design model together to automatically move the back-imaging sensor for 3-D shape measurement. The proposed methods have been implemented, and the sensor is installed on an ABB robot for measuring an automotive side-door glass. Experimental results are reported and analyzed.
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    Guest Editorial Introduction to the Focused Section on Wireless Mechatronics (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-04
    Description: Wireless mechatronic devices, services, and systems are experiencing fast growth in a variety of application fields, such as manufacturing, transportation, and healthcare. For instance, it is envisaged that service and personal care wireless mechatronic systems will become more and more prevalent at home in the near future and will be very useful in assistive healthcare particularly for the elderly and disabled. Another concrete example is radio-frequency identification-based devices and systems that are showing significant potentials in applications from manufacturing, security, logistics, airline baggage management to postal tracking. In an effort to disseminate current advances on wireless mechatronics, this Focused Section reports some of the latest theoretical developments and applications in this fast-growing area.
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  • 95
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    A Wireless Sensory Feedback Device for Real-Time Gait Feedback and Training (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-04
    Description: This paper presents a new sensing and feedback system for a personal gait rehabilitation device based on wireless transmission of ambulation data for real-time sensory feedback for assistive healthcare. An integrated force-sensing insole was designed, using embedded force sensitive resistors that were sampled using a microprocessor, which then transmitted the data to an Android smartphone for presentation to the user. Experiments were performed to verify that the device captured accurate gait data, and was able to influence the gait of the subject. In addition, different sensory methods of feedback were tested to determine their individual efficacy at modulating the gait of study subject. The results show that the feedback system is capable of influencing the gait of the user, without the need for direct supervision by a rehabilitation specialist. In addition, a statistical analysis was performed to establish the reliability and repeatability of the system. From these results, this feedback system is established as a novel, inexpensive, and effective candidate for use in clinical rehabilitation of persons with gait abnormalities.
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    Embedded System Integrated Into a Wireless Sensor Network for Online Dynamic Torque and Efficiency Monitoring in Induction Motors (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-04
    Description: The system proposed in this paper aims at monitoring the torque and efficiency in induction motors in real time by employing wireless sensor networks (WSNs). An embedded system is employed for acquiring electrical signals from the motor in a noninvasive manner, and then performing local processing for torque and efficiency estimation. The values calculated by the embedded system are transmitted to a monitoring unit through an IEEE 802.15.4-based WSN. At the base unit, various motors can be monitored in real time. An experimental study was conducted for observing the relationship between the WSN performance and the spectral occupancy at the operating environment. This study demonstrated that the use of intelligent nodes, with local processing capability, is essential for this type of application. The embedded system was deployed on a workbench, and studies were conducted to analyze torque and system efficiency.
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    The WHaSP: A Wireless Hands-Free Surgical Pointer for Minimally Invasive Surgery (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-04
    Description: To address the challenges of surgical instruction during minimally invasive surgery (MIS), a wireless hands-free pointer system has been developed. The Wireless Hands-free Surgical Pointer system incorporates infrared and inertial tracking technologies to address the need for hands-free pointing during MIS. The combination of these technologies allows for optimal movement of the pointer and excellent accuracy while the user is located at a realistic distance from the surgical monitor. Several experimental evaluations were performed to optimize the settings of the sensors, and to validate the system when compared to a commercially available hands-free pointing system. The results show improved performance with the proposed technology as measured by the total trajectory travelled by the pointer and the smoothness of the curve. The technology presented has the potential to significantly improve surgical instruction and guidance during MIS.
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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 Magnetically Sprung Generator for Energy Harvesting Applications (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-04
    Description: The use of vibration energy harvesting systems for supplying energy to wireless sensor nodes is becoming increasingly popular. This paper presents a magnetically sprung vibration energy harvester that has a broadband response and is tunable. The system comprises three annular magnets longitudinally arranged along a shaft, resulting in a nonlinear hardening suspension and consequential “jump” phenomenon characteristic. This paper presents and validates a toolbox that can be used to develop such systems using a time step model and prototype. It comprises accurate models of the magnetic suspension force and electromagnetic coupling coefficient, which links the mechanical and electrical domains. The system is compared with those in the literature using power density and effectiveness metrics. The nonoptimized prototype has an average power density of 600 W·m $^{-3}$ and is comparable to those in the literature.
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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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  • 99
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    Wireless Piping Inspection Vehicle Using Magnetic Adsorption Force (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-04
    Description: A robot is developed which is able to climb on a perpendicular branched piping and moves on the ceiling in the piping with the radio control. This inspection robot adsorbs to the piping using the magnetic adsorption force of a magnetic crawler and moves in piping. Therefore, the crawler should be composed of magnets that have optimal adsorption force. In order to design the crawler, the magnetic adsorption force is analyzed, and the design method of the inspection robot in the piping is shown. The robot mounts a radio control unit and a compact radio camera so as to inspect inside of piping. To validate it, a compact crawler type radio control robot is made, and traveling performance or inspection performance in the piping is examined.
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    Shared Nonlinear Control in Wireless-Based Remote Stabilization: A Theoretical Approach (2012)
    Institute of Electrical and Electronics Engineers (IEEE) ; American Society of Mechanical Engineers (ASME)
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    Publication Date: 2012-05-04
    Description: This paper proposes shared control in wireless-based remote stabilization for nonlinear systems. Shared control that is newly named in this paper can be regarded as simultaneous stabilization of plural nonlinear systems (in different places) by a single (common) controller. This paper consists of two parts. The first part addresses the basis of wireless-based remote stabilization for a single nonlinear system with time-varying delay. We derive a delay-dependent sufficient condition for ensuring the stability of Takagi–Sugeno (T-S) fuzzy models with time-varying delays that are globally (or semiglobally at least) equivalent to nonlinear systems with wireless communication time delays. A feature of the derived condition is to be able to obtain the maximum time delay for ensuring the stability of wireless-based remote control system for given feedback gains. The second part presents shared control of plural nonlinear systems via a single controller. To design a (common) shared controller to stabilize plural nonlinear systems, we derive also a shared control version of the stability condition for T-S fuzzy models with time-varying delays. Design examples demonstrate the utility of this proposed design approach.
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