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2020 Index IEEE/ASME Transactions on Mechatronics Vol. 25 IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2021-01-11
Presents the 2020 subject/author index for this publication.
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Table of contents IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-10-14
Presents the table of contents for this issue of this publication.
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IEEE/ASME Transactions on Mechatronics IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-10-14
Provides a listing of current staff, committee members and society officers.
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State of AI-Based Monitoring in Smart Manufacturing and Introduction to Focused Section IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-09-09 Han Ding; Robert X. Gao; Alf J. Isaksson; Robert G. Landers; Thomas Parisini; Ye Yuan
Over the past few decades, intelligentization, supported by artificial intelligence (AI) technologies, has become an important trend for industrial manufacturing, accelerating the development of smart manufacturing. In modern industries, standard AI has been endowed with additional attributes, yielding the so-called industrial artificial intelligence (IAI) that has become the technical core of smart
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Focused Section on Mechatronics and Automation for Construction IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-10-14
Prospective authors are requested to submit new, unpublished manuscripts for inclusion in the upcoming event described in this call for papers.
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TechRxiv: Share Your Preprint Research with the World! IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-10-14
Advertisement: TechRxiv is a free preprint server for unpublished research in electrical engineering, computer science, and related technology. Powered by IEEE, TechRxiv provides researchers across a broad range of fields the opportunity to share early results of their work ahead of formal peer review and publication. Researchers are asked to upload their unpublished research.
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Information for Authors IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-10-14
Provides instructions and guidelines to prospective authors who wish to submit manuscripts.
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Blank Page IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-09-30
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Spine-Equivalent Beam Modeling Method With In Vivo Validation for the Analysis of Sagittal Standing Flexion IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-07-07 Yang Xie; Kok-Meng Lee
Motivated by the need to incorporate human spine mechanics into the design loop of wearable spine assistive devices, this article presents a spine-equivalent beam (SEB) model for analyzing kinematics and mechanics of a human spine in sagittal standing flexion. The model is capable of handling loads resulted from the head, arms, external payload, torso weight, and back muscle effects, and it also handles
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Deep Neural Network Classification of Tactile Materials Explored by Tactile Sensor Array With Various Active-Cell Formations IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-07-02 Sung-Ho Lim; Kyungsoo Kim; Minkyung Sim; Kwonsik Shin; Doyoung Lee; Jiho Park; Jae Eun Jang; Ji-Woong Choi
Reducing the input data of tactile sensory systems brings a large degree of freedom to real-world implementations from the perspectives of bandwidth and computational complexity. For this, in this letter, we suggest efficient active-cell formations with a high classification accuracy of tactile materials. By revealing that averaged Kullback–Leibler-divergence and common frequency component power to
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An Unknown Input Observer–EFIR Combined Estimator for Electrohydraulic Actuator in Sensor Fault-Tolerant Control Application IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-08-03 Syed Abu Nahian; Truong Quang Dinh; Hoang Vu Dao; Kyoung Kwan Ahn
This article presents a novel unknown input observer (UIO)-integrated extended finite impulse response (EFIR) estimator and its application for an effective sensor fault-tolerant control (FTC) of an electrohydraulic actuator (EHA). The proposed estimator exploits the UIO structure in the EFIR filter. Thus, it requires only a small amount of historical data ( $N$ ) while ensuring the following: 1) sensor
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Machinery Health Monitoring Based on Unsupervised Feature Learning via Generative Adversarial Networks IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-07-28 Jun Dai; Jun Wang; Weiguo Huang; Juanjuan Shi; Zhongkui Zhu
It confronts great difficulty to apply traditional artificial intelligence (AI) techniques to machinery prognostics and health management in manufacturing systems due to the lack of abnormal samples corresponding to different fault conditions. This article explores an unsupervised feature learning method for machinery health monitoring by proposing a generative adversarial networks (GAN) model that
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Fault Detection of Electromechanical Actuators via Automatic Generation of a Fuzzy Index IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-07-21 Daniele De Martini; Tullio Facchinetti
Regardless of dimensions, complexity, or purpose of a mechatronic system, fault detection (FD) represents a critical element to achieve robustness and safety, while reducing risks and maintenance costs. Important requisites for an FD component include flexibility, performance, platform independence, and interpretability. To pursue these goals, this article presents a framework for the FD on electromechanical
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Ensemble Generalized Multiclass Support-Vector-Machine-Based Health Evaluation of Complex Degradation Systems IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-07-15 Jun Wu; Pengfei Guo; Yiwei Cheng; Haiping Zhu; Xian-Bo Wang; Xinyu Shao
Accurate health evaluation is crucial to reliable operation of complex degradation systems. Although traditional machine learning methods such as artificial neural network (ANN) and support vector machine (SVM) have been used widely, state assessment schemes based on a single classification model still suffer from low multiclass classification efficiency, high variance, and deviation. To solve these
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Robust Deep Learning-Based Diagnosis of Mixed Faults in Rotating Machinery IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-07-08 Siyuan Chen; Yuquan Meng; Haichuan Tang; Yin Tian; Niao He; Chenhui Shao
Fault diagnosis for rolling elements in rotating machinery persistently receives high research interest due to the said machinery's prevalence in a broad range of applications. State-of-the-art methods in such setups focus on effective identification of faults that usually involve a single component while rejecting noise from limited sources. This article studies the data-based diagnosis of mixed faults
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Robust Wheel Wear Monitoring System for Cylindrical Traverse Grinding IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-07-08 Bin Zhang; Christopher Katinas; Yung C. Shin
Although many advanced signal processing techniques and novel machine learning algorithms have been applied to the monitoring of grinding processes in the literature, most of these techniques and algorithms are only effective under specific conditions and are unusable under other grinding conditions, such as varying wheel types or workpiece materials. This article proposes a robust grinding wheel wear
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Intelligent Fault Diagnosis of Multichannel Motor–Rotor System Based on Multimanifold Deep Extreme Learning Machine IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-24 Xiaoli Zhao; Minping Jia; Peng Ding; Chen Yang; Daoming She; Zheng Liu
Nowadays, the measurement technology of multichannel information fusion provides a solid research foundation for digital and intelligent fault diagnosis of mechatronics equipment. To implement the rapid fusion of multichannel data and intelligent diagnosis, a new fault diagnosis method for multichannel motor–rotor system via multimanifold deep extreme learning machine (MDELM) algorithm is first proposed
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Table of Contents IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-16
Presents the table of contents for this issue of the publication.
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IEEE/ASME Transactions on Mechatronics IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-16
Presents a listing of the editorial board, board of governors, current staff, committee members, and/or society editors for this issue of the publication.
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Information for Authors IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-16
These instructions give guidelines for preparing papers for this publication. Presents information for authors publishing in this journal.
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Gaussian Mixture Model Clustering-Based Knock Threshold Learning in Automotive Engines IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-09 Xun Shen; Yahui Zhang; Kota Sata; Tielong Shen
In this article, a Gaussian mixture model (GMM) clustering-based method is proposed to learn the optimal threshold of the knock intensity metric, which minimizes the probability of the judgment error of the knock event. First, statistical analysis of knock intensity on an experimental database measured from a gasoline engine test bench is conducted and the results show that GMM has better fitting performance
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Parameter Identification and Nonparametric Calibration of the Tri-Pyramid Robot IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-09 Shuheng Liao; Qiang Zeng; Kornel F. Ehmann; Jian Cao
The Tri-pyramid Robot is a 3-degree-of-freedom overconstrained parallel robot designed for the rapid flexible forming of three-dimensional thin sheets without geometry-specific dies used in conventional forming processes. In this article, a combined parametric and nonparametric calibration method for the geometric and nongeometric errors of the Tri-pyramid Robot is presented. The geometry-based inverse
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Thrust Performance Improvement for PMSLM Through Double-Layer Reverse Skewed Coil and WRF-MKH Method IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-05 Weitao Wang; Jiwen Zhao; Juncai Song; Fei Dong; Kaifang Zong; Guihua Li
This article is dedicated to achieving the best thrust performance of high thrust and low thrust ripple of permanent magnet synchronous linear motors (PMSLMs), which are used in precision positioning system. To achieve this, a novel PMSLM with double-layer reverse skewed coil (DRSC) is designed and optimized. First, the topological structure of the DRSC-PMSLM is introduced, and the effectiveness of
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A Systematic Model of Machining Error Reduction in Robotic Grinding IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-05 He Xie; Wen-long Li; Da-Hu Zhu; Zhou-ping Yin; Han Ding
Robotic grinding is a promising automatic technique for free-form surface manufacturing. One important problem that restrains the application of robotic grinding is the machining quality. Existing methods considers only individual kinematic errors or joint stiffness. In this article, a systematic method of error compensation, workpiece position optimization and tool pose optimization is proposed to
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The Identification of Period Doubling in a Nonlinear Two-Degree-of-Freedom Electromagnetic Vibrational Energy Harvester IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-05 Valeria Nico; Ronan Frizzell; Jeff Punch
Common vibrational energy harvesters are generally based on a linear mass-spring oscillator model, and these typically show narrow bandwidth and high resonant frequency at small scales. To overcome these problems, a two-degree-of-freedom nonlinear velocity-amplified energy harvester has been developed. The device comprises two masses, relatively oscillating one inside the other between four sets of
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Layer-to-Layer Predictive Control of Inkjet 3-D Printing IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-04 Uduak Inyang-Udoh; Yijie Guo; Joost Peters; Tom Oomen; Sandipan Mishra
This article develops and experimentally validates a distributed predictive control algorithm for closed-loop control of inkjet 3-D printing to handle constraints, e.g., droplet volume bounds, as well as the large-scale nature of the 3-D printing problem. The large number of decision variables, i.e., droplet volumes at each grid point, in high resolution inkjet 3-D printing makes centralized methods
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Provably Stabilizing Controllers for Quadrupedal Robot Locomotion on Dynamic Rigid Platforms IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-04 Amir Iqbal; Yuan Gao; Yan Gu
Creating controllers for quadrupedal robot locomotion on platforms that exhibit dynamic behaviors, which are herein termed as dynamic platforms, poses a challenging problem because of the complexity of the associated hybrid, time-varying robot dynamics. Towards tackling this challenge, this article focuses on controller design for quadrupedal robot locomotion on dynamic rigid platforms, which are floating-base
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Design of Dual-Drive Vertical Lift Servo System and Synchronous Control Performance Analysis IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-03 Guoliang Zhong; Hongdong Yi; Weiqiang Dou
This article introduces a new dual-drive vertical lift servo system with a slipway that can be used to help people or other intelligent equipment complete high-altitude work better on the exterior wall of the high-rise buildings. In order to improve the system motion performance, enhance the robustness against the variation of system parameters and external disturbances, and minimize position error
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Robust Trajectory Generation for Multiaxis Vibration Avoidance IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-03 Alper Dumanli; Burak Sencer
Precision manufacturing equipment suffer from unwanted vibrations triggered in rapid motion. Unless mitigated, these vibrations limit achievable accuracy and productivity of motion systems. This article presents a novel technique to generate reference motion trajectories that can robustly avoid triggering unwanted inertial vibrations. The reference trajectory is defined in B-spline form, and its frequency
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Novel Growing Robot With Inflatable Structure and Heat-Welding Rotation Mechanism IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-02 Yuki Satake; Atsuo Takanishi; Hiroyuki Ishii
Soft robotics has recently become a popular topic owing to its advantages over conventional rigid robotics. In this article, we introduce a soft robot that can grow with its own structure; its main components include an inflatable tube for its body and a tip with an expansion mechanism. The tube is made of conventional laminated film. It leads the robot to improved applicability. The robot can grow
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Simultaneous and Proportional Estimation of Multijoint Kinematics From EMG Signals for Myocontrol of Robotic Hands IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-02 Qin Zhang; Te Pi; Runfeng Liu; Caihua Xiong
As the primary effector of human, hand is dexterous, important, and biomechanically complex. How to control the robotic hand as human intends in the human-centered robotic systems is a hot topic to guarantee natural interaction between users and robots. In this article, we investigate the simultaneous and proportional estimation of human's movement intent from surface electromyography (EMG) signals
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Data-Driven Multiobjective Controller Optimization for a Magnetically Levitated Nanopositioning System IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-02 Xiaocong Li; Haiyue Zhu; Jun Ma; Tat Joo Teo; Chek Sing Teo; Masayoshi Tomizuka; Tong Heng Lee
The performance achieved with traditional model-based control system design approaches typically relies heavily on accurate modeling of the motion dynamics. However, modeling the true dynamics of present-day increasingly complex systems can be an extremely challenging task; and the usually necessary practical approximations often renders the automation system to operate in a nonoptimal condition. This
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Suppression of Torque Ripple Caused by Misalignment of the Gearbox by Using Harmonic Current Injection Method IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-02 Soo-Hwan Park; Jin-Cheol Park; Sung-Woo Hwang; Jae-Hyun Kim; Hyeon-Jin Park; Myung-Seop Lim
This article proposes a method to suppress the torque ripple caused by misalignment of the gearbox. Misalignment is a common fault caused by the manufacturing tolerances, and generates torque ripple. Therefore, even if a constant electromagnetic torque is transmitted from the motor to the gearbox, a large torque ripple may be transmitted to the load because of misalignment. In the proposed method,
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Guidance and Control Law Design for a Slung Payload in Autonomous Landing: A Drone Delivery Case Study IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-06-01 Longhao Qian; Silas Graham; Hugh H.-T. Liu
This article presents a novel guidance and control design for a parcel tethered to a drone in its delivery mission. The proposed proportional-navigation-based guidance, integrated with custom-built control, enables to achieve autonomous payload landing. The novelty of the proposed method lies in two aspects: 1) the guidance law allows for soft landing and 2) the path-following control ensures the swing-free
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Adaptive Tracking Control of One-Dimensional Respiration Induced Moving Targets by Real-Time Magnetic Resonance Imaging Feedback IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-28 Yu-Hsiu Lee; Xinzhou Li; James Simonelli; David Lu; Holden H. Wu; Tsu-Chin Tsao
One of the main challenges in magnetic resonance imaging (MRI) guided interventions is for an instrument to access and track a respiration-induced moving target inside the patient. In this article, we present a mechatronic system that demonstrates such capability for one-dimensional motion in phantom experiments. Our system consists of real-time sensing by MRI acquisition, detection, and localization
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Compact Variable Gravity Compensation Mechanism With a Geometrically Optimized Lever for Maximizing Variable Ratio of Torque Generation IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-28 Jehyeok Kim; Junyoung Moon; Jongwon Kim; Giuk Lee
In this article, we propose a compact variable gravity compensation (CVGC) mechanism with a geometrically optimized lever shape. The CVGC mechanism can be used to generate gravity compensation torque by employing a cam and lever mechanism and can also amplify the gravity compensation torque by varying the pivot point of the lever. Among these advantages, we aimed to maximize the variable ratio of torque
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An Extended Complementary Filter for Full-Body MARG Orientation Estimation IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-28 Sebastian O. H. Madgwick; Samuel Wilson; Ruth Turk; Jane Burridge; Christos Kapatos; Ravi Vaidyanathan
Inertial sensing suites now permeate all forms of smart automation, yet a plateau exists in the real-world derivation of global orientation. Magnetic field fluctuations and inefficient sensor fusion still inhibit deployment. In this article, we introduce a new algorithm, an extended complementary filter (ECF), to derive 3-D rigid body orientation from inertial sensing suites addressing these challenges
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Thruster Allocation and Mapping of Aerial and Aquatic Modes for a Morphable Multimodal Quadrotor IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-28 Yu Herng Tan; Ben M. Chen
Although there have been several proposed methods and existing prototypes demonstrating the functionality of aerial–aquatic vehicles, most are fundamentally aerial vehicles with varying degrees of operability when submerged. We aim to improve the balance of aerial–aquatic functionality by proposing a morphable vehicle structure, where the rotors can be tilted to allow thrust vectoring when underwater
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Torque Control of a Series Elastic Tendon-Sheath Actuation Mechanism IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-27 Yeongtae Jung; Joonbum Bae
Tendon-sheath actuation mechanisms can provide compact and lightweight tendon routing. However, torque control of a tendon-sheath actuation system is challenging because of variable friction with respect to the sheath configuration. Model-based feedforward friction compensation algorithms have been developed to accurately deliver desired torque, but it is difficult to apply such algorithms to multi-degrees
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Path-Following With LiDAR-Based Obstacle Avoidance of an Unmanned Surface Vehicle in Harbor Conditions IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-27 Jose Villa; Jussi Aaltonen; Kari T. Koskinen
This article studies the design, modeling, and implementation challenges of a path-following with obstacle avoidance algorithms as guidance, navigation, and control (GNC) architecture of an unmanned surface vehicle (USV) in harbor conditions. First, an effective mathematical model is developed based on system identification, validating the USV model with field-test data. Then, a guidance system is
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Multi-agent Control for Stochastic Optical Manipulation Systems IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-27 Quang Minh Ta; Chien Chern Cheah
In this article, we propose a multi-agent robot control framework for coordinated manipulation of multiple micro-objects with Brownian perturbations. In this control approach, several micro-hands with multiple fingertips are first constructed by coordination of optically trapped particles so as to grasp the target micro-objects. The grasped micro-objects are then cooperatively manipulated through coordinative
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Neural Networks Based Learning Control for a Piezoelectric Nanopositioning System IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-26 Linghuan Kong; Dan Li; Jianxiao Zou; Wei He
In this article, approximation model-based control and neural networks-based adaptive control are investigated for obtaining the solution to the motion tracking of a piezoelectric nanopositioning system, respectively. In order to reduce the effect of unknown hysteresis nonlinearity, a disturbance observer is introduced to estimate it. By considering nominal parts of an unknown piezoelectric nanopositioning
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Joining Force of Human Muscular Task Planning With Robot Robust and Delicate Manipulation for Programming by Demonstration IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-26 Fei Wang; Xingqun Zhou; Jianhui Wang; Xing Zhang; Zhenquan He; Bo Song
Recently, programing by demonstration (PbD) received much attention for its capacity of fast programming with increasing demands in the robot manipulation area, especially in industrial applications. However, one of the biggest challenges of PbD is the recognition of demonstrator's finger high-fidelity motions especially in the environments with uncertainties, which limits the efficiency and accuracy
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Optimal Design of a Motor-Driven Three-Finger Soft Robotic Gripper IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-26 Chih-Hsing Liu; Fu-Ming Chung; Yang Chen; Chen-Hua Chiu; Ta-Lun Chen
This article presents an innovative, motor-driven, three-finger compliant gripper for adaptive grasping of size-varied delicate objects. An optimized compliant finger design is identified numerically through a topology optimization method. A stepper motor is used to actuate three identical compliant fingers, which can operate through elastic bending deformation. Finite-element models are developed
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Automatic Kinematic Calibration of Multiaxis Gimbal Systems IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-25 Fu Zhang; Minghui Zheng
This article presents an automatic and efficient calibration method for multiaxis gimbal systems. The calibrated kinematic parameters consist of the axis orientation, the joint encoder nonlinearity map, and the endpoint gyro bias. The calibration of these parameters is conducted simultaneously by sequentially and independently moving one gimbal joint back and forth. With such straightforward intuition
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Precise Automated Intracellular Delivery Using a Robotic Cell Microscope System With Three-Dimensional Image Reconstruction Information IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-25 Wendi Gao; Adnan Shakoor; Mingyang Xie; Shuxun Chen; Zhangyan Guan; Libo Zhao; Zhuangde Jiang; Dong Sun
Precise intracellular delivery is essential for many biomedical applications, such as genome-editing and intracellular mechanism investigation. This article presents the development of an automated intracellular delivery approach using a robot-aided microscope system with 3-D reconstruction information. A series of optical section images is sampled by objective lens movement and restored on the computer
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Online Process Monitoring Based on Vibration-Surface Quality Map for Robotic Grinding IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-25 Hao Lu; Xingwei Zhao; Bo Tao; Zhouping Yin
In robotic manufacturing, the machining vibration can easily affect the quality of the processed surfaces due to poor stiffness and variable stiffness of the robot arm. It is important to monitor the processing quality. Therefore, an online process monitor method for robotic grinding is proposed in this article. Since the surface quality is difficult to be measured directly online, a vibration-surface
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In-Motion Alignment for a Velocity-Aided SINS With Latitude Uncertainty IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-25 Qiangwen Fu; Feng Wu; Sihai Li; Yang Liu
For situations where accurate attitude information is needed while the position is not readily available or not necessarily required, such as the attitude heading reference system, this article proposes a velocity-aided in-motion alignment scheme for a strapdown inertial navigation system (SINS) during geographic latitude uncertainty. In the coarse alignment stage, a gravitational apparent motion rebuilding
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Adaptive Proxy-Based Robust Control Integrated With Nonlinear Disturbance Observer for Pneumatic Muscle Actuators IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-25 Yu Cao; Jian Huang; Cai-Hua Xiong; Dongrui Wu; Mengshi Zhang; Zhijun Li; Yasuhisa Hasegawa
In pneumatic muscle actuators (PMAs)-driven robotic applications, there might exist unpredictable shocks which lead to the sudden change of desired trajectories and large tracking errors. This is dangerous for physical systems. In this article, we propose a novel adaptive proxy-based robust controller (APRC) for PMAs, which is effective in realizing a damped response and regulating the behaviors of
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Camera Intrinsic Parameters Estimation by Visual–Inertial Odometry for a Mobile Phone With Application to Assisted Navigation IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-25 Lingqiu Jin; He Zhang; Cang Ye
The increasing computing and sensing capabilities of modern mobile phones have spurred research interests in developing new visual–inertial odometry (VIO) techniques to turn a smartphone into a self-contained vision-aided inertial navigation system for various applications. Smartphones nowadays use cameras with optical image stabilization (OIS) technology to reduce image blurs. However, the mechanism
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Automatic Light Pipe Actuating System for Bimanual Robot-Assisted Retinal Surgery IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-22 Changyan He; Emily Yang; Niravkumar Patel; Ali Ebrahimi; Mahya Shahbazi; Peter Gehlbach; Iulian Iordachita
Retinal surgery is a bimanual operation in which surgeons operate with an instrument in their dominant hand (more capable hand) and simultaneously hold a light pipe (illuminating pipe) with their nondominant hand (less capable hand) to provide illumination inside the eye. Manually holding and adjusting the light pipe places an additional burden on the surgeon and increases the overall complexity of
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Surrogate-Assisted Symbiotic Organisms Search Algorithm for Parallel Batch Processor Scheduling IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-22 ZhengCai Cao; ChengRan Lin; MengChu Zhou; JiaQi Zhang
Parallel batch processor scheduling with dynamic job arrival is complex and challenging in semiconductor manufacturing. In order to get its reliable and high-performance schedule in a reasonable time, this work decomposes this scheduling problem into two-stage solution strategy: a batch forming subproblem and a batch scheduling subproblem. The batch formation is made by a heuristic rule. Then, a surrogate-assisted
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Guarding a Territory Against an Intelligent Intruder: Strategy Design and Experimental Verification IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-22 Han Fu; Hugh H.-T. Liu
This article designs and tests a dominant region based strategy for a group of defenders to intercept an intruder before it enters a target area. The intruder is intelligent in the sense that it makes decisions based on the defenders’ strategies instead of following a predefined path, making the problem a differential game. When the intruder moves slower than the defenders, the optimal strategies are
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Dynamics and Isotropic Control of Parallel Mechanisms for Vibration Isolation IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-22 Xiaolong Yang; Hongtao Wu; Yao Li; Shengzheng Kang; Bai Chen; Huimin Lu; Carman K. M. Lee; Ping Ji
Parallel mechanisms have been employed as architectures of high-precision vibration isolation systems. However, their performances in all degrees of freedom (DOFs) are nonidentical. The conventional solution to this problem is isotropic mechanism design, which is laborious and can hardly be achieved. This article proposes a novel concept; namely, isotropic control, to solve this problem. Dynamic equations
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A CNN-Based Adaptive Surface Monitoring System for Fused Deposition Modeling IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-21 Yuanbin Wang; Jiakang Huang; Yuan Wang; Sihang Feng; Tao Peng; Huayong Yang; Jun Zou
Additive manufacturing has been increasingly applied. As one of the most commonly used technologies, fused deposition modeling (FDM) still faces the challenge of instable performance. The appearance of the printed part is an important feature to assess its quality. As FDM processes usually take a long time, it is very important to timely identify the defects to avoid unnecessary waste of time and cost
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Force Characteristics of Rotating Air Film and Flow Closed-Loop for Noncontact Adsorption IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-20 Xubo Yu; Xin Li
A rotating air film is used in a wide range of applications, such as rotating machines, filtering systems, and computer storage devices. In this article, the pressure distribution and force characteristic curve of a rotating air film were both theoretically and experimentally analyzed. First, based on von Kármán's similarity transformation, a theoretical model of the pressure distribution and generation
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Collision Detection of Robots Based on a Force/Torque Sensor at the Bedplate IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-20 Wang Li; Yong Han; Jianhua Wu; Zhenhua Xiong
For a collaborative robot that shares the workspaces with humans, physical human–robot interactions are unavoidable. Therefore, it must be capable to detect collisions. Usual collision detection algorithms are based on the robot's dynamic model that frequently suffers from complex joint frictions. The uncertainty of commonly modeled frictions could lead to low sensitivity of the collision detection
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Prognostics of Health Measures for Machines With Aging and Dynamic Cumulative Damage IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-19 Chaoqun Duan; Chao Deng
Modern engineering components generally work under aging and dynamic cumulative damage processes. To prevent failures of such components, the proportional hazards model (PHM) was proposed to integrate both processes for health prognostics. However, the existing PHMs use constant damage rate within monitoring intervals for machine health estimation and still lack consideration of dynamic operational
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Quasi-Direct Drive Actuation for a Lightweight Hip Exoskeleton With High Backdrivability and High Bandwidth IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-18 Shuangyue Yu; Tzu-Hao Huang; Xiaolong Yang; Chunhai Jiao; Jianfu Yang; Yue Chen; Jingang Yi; Hao Su
High-performance actuators are crucial to enable mechanical versatility of wearable robots, which are required to be lightweight, highly backdrivable, and with high bandwidth. State-of-the-art actuators, e.g., series elastic actuators, have to compromise bandwidth to improve compliance (i.e., backdrivability). In this article, we describe the design and human–robot interaction modeling of a portable
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Design and Validation of a Novel Leaf Spring-Based Variable Stiffness Joint With Reconfigurability IEEE ASME Trans. Mechatron. (IF 5.673) Pub Date : 2020-05-18 Jiahao Wu; Zerui Wang; Wei Chen; Yaqing Wang; Yun-hui Liu
Compliant joints can provide safer physical human–robot interaction. To effectively balance the response bandwidth and output impedance, variable stiffness joints have been studied by many researchers. Leaf spring-based variable stiffness joint (LSVSJ) has the advantages of easy construction and large stiffness range. This article presents the design and validation of a novel LSVSJ with reconfigurability
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