Showing papers in "IEEE-ASME Transactions on Mechatronics in 1996"
TL;DR: In this article, a technique to estimate disturbance is introduced to make motion controller to be an acceleration controller, which is a bridge to connect such robustness and variable stiffness in the controller.
Abstract: Motion control is now recognized as a key technology in mechatronics. The robustness of motion control will be represented as a function of stiffness and a basis for practical realization. Target of motion is parameterized by control stiffness which could be variable according to the task reference. However, the system robustness of motion always requires very high stiffness in the controller. The paper shows that control of acceleration realizes specified motion simultaneously with keeping the robustness very high. The acceleration is a bridge to connect such robustness and variable stiffness. For practical applications, a technique to estimate disturbance is introduced to make motion controller to be an acceleration controller. Motion control of flexible structure and identification of mechanical parameters are also described.
1,775 citations
TL;DR: The IEEE/ASME TRANSACTIONS on MECHATRONICS journal as discussed by the authors is a high-quality archival journal which represents the state-of-the-art of the art of mechatronics, its recent advances, and practical applications.
Abstract: It is our great pleasure to welcome you to the new publication of the IEEE/ASME TRANSACTIONS ON MECHATRONICS. This TRANSACTIONS is published quarterly from this premiere issue in 1996 as a joint publication of the IEEE Industrial Electronics Society, the IEEE Robotics and Automation Society, and the ASME Dynamic Systems and Control Division, aiming at establishing a high-quality archival journal which represents stme of the art of mechatronics, its recent advances, and practical applications. Many of you are quite familiar with the basic concepts and commercial products utilizing the control of mechanical systems in conjunction with modern electronics technology. The word "Mechatronics" is a new word for the blending of mechanics and electronics invented in Japan at the end of the 1960's. Yaskawa Electric Company once commercially registered the word "Mechatronics," which is now freely used by anyone [1]. In this editorial, we look back at the history of mechatronics, project it into the future, and state the scope and direction of this new journal.
171 citations
TL;DR: The state of the art of micro mechatronics is surveyed in this paper, where the authors focus on micro actuators for further research and development in the field of advanced mechatronic systems.
Abstract: Micro mechatronics is the synergetic integration of both mechanical and electronic systems based on scaling effects in the micro world. A micro mechatronics system is expected to be the key component of the mechanical system, such as in electronic automotive technologies. Micro mechatronics requires the organic combination of micro devices such as micro processor, micro sensor, and micro actuator. Among the micro devices, the micro processor and micro sensor have been widely employed in advanced mechatronics products, but not the micro actuator. This paper surveys the state of the art of micro mechatronics and deals with micro actuators as new devices for micro mechatronics and advanced mechatronics, which play an important role in today's integrated mechanical products. Since micro actuators are still under development, the authors focus on micro actuators for further research and development in this paper.
129 citations
TL;DR: In this article, the authors discuss the mutual interrelations between the design of the mechanical system and digital electronic system and different ways of integration within mechatronic systems and the resulting properties are described.
Abstract: The integration of mechanical systems and microelectronics opens many new possibilities for process design and automatic functions. After discussing the mutual interrelations between the design of the mechanical system and digital electronic system the different ways of integration within mechatronic systems and the resulting properties are described. The information processing can be organized in multi levels, ranging from low level control through supervision to general process management. In connection with knowledge bases and inference mechanisms, intelligent control systems result. The design of control systems for mechanical systems is described, from modeling, identification to adaptive control for nonlinear systems. This is followed by solving supervision tasks with fault diagnosis. Then design tools for mechatronic systems are considered and examples of applications are given, like adaptive control of electromagnetic and pneumatic actuators, adaptive semiactive shock absorbers for vehicle suspension, and electronic drive-chain damping.
115 citations
TL;DR: In this paper, the importance of "intimate and organic" integration in mechatronics product designs is raised, and several issues pertaining to attaining this ideal integration of mechanical, electronic controls, and system engineering are cited.
Abstract: The term "mechatronics" is defined to provide a framework for technical and practical considerations. Within this framework, the importance of "intimate and organic" integration in mechatronics product designs is raised. Several issues pertaining to attaining this ideal integration of mechanical, electronic controls, and system engineering in mechatronics product designs are cited. To further advance the current mechatronics products, areas of improvement are also presented.
102 citations
TL;DR: In this paper, a recursive experimental design method for simultaneously optimizing both mechanical structure and control is presented, where control gains are optimally tuned for a given prototype of mechatronic system and its mechanical structure is physically modified so that control performance can be further improved.
Abstract: A recursive experimental design method for simultaneously optimizing both mechanical structure and control is presented in this paper. Control gains are optimally tuned for a given prototype of mechatronic system, and its mechanical structure is physically modified so that control performance can be further improved. The entire control tuning, evaluation, and structure alteration process is repeated until the desired performance goals are achieved. In each iteration, incremental design changes are determined based on a sensitivity Jacobian relating structural changes to performance improvements. The sensitivity Jacobian is updated during the recursive process using the actual data of the design changes. To estimate the Jacobian despite few data points, a pseudoinverse method and a parameter perturbation algorithm, termed singular-value excitation, are developed. The mechanical structure is modified recursively and quickly by using structure reinforcement and rapid prototyping techniques. The feasibility of mechanical structure changes is taken into account in determining the design changes. The proposed methodology is verified through simulation and applied to the design of a robot positioning system. The robot arm structure is modified with regard to stiffness and damping by using steel reinforced epoxy. PD control gains are optimized every time the structure is modified. Through the recursive procedure, an optimal combination of the arm structure and control gains is obtained.
83 citations
TL;DR: A mobile robotic system for human assistance in navigation-the robot navigates by receiving visual instructions from a human being and is able to replicate them autonomously as well as their integration in the authors' teachable mobile robot.
Abstract: This paper presents a mobile robotic system for human assistance in navigation-the robot navigates by receiving visual instructions from a human being and is able to replicate them autonomously. We describe three generic components defined as the HOST, the VISION, and the CONTROL components as well as their integration in our teachable mobile robot. These components are connected to each other via a transputer serial link, namely they are loosely coupled, they work in parallel and are asynchronous with each other. Each component is described with a peculiar feature of extensibility. Especially in the VISION component, there are two major features. The first one is a correlator which each vision board possesses. The correlator does block-matching between the template and the grabbed images in real-time. The other is the PIM library which manages the visual tasks over limited parallel visual resources of the mobile robot. These features of our design enable the system to be real-time and allow for efficient and extensible software development. In order to show the feasibility of our system design, we present a preliminary experiment of the route teaching on our mobile robot.
81 citations
TL;DR: In this paper, the authors examine the technology enablers as they influence automotive control systems, and then explore the impact of environmental, customer, and societal drivers as they affect control systems.
Abstract: The merging of electronics and mechanical actuators for automotive applications is driven by environmental and societal influences, customer wants, quality/reliability, and value. Cost-effective mechatronics is made possible by the continuing improvements in the underlying enabling technologies. This paper examines the technology enablers as they influence automotive control systems, and then explores the impact of environmental, customer, and societal drivers as they affect control systems.
77 citations
TL;DR: A modeling and control system perspective relevant to the systems approach and fast adaptive control systems is presented and some of the important aspects are properties from graphical system representation, achievable performance, and fast control algorithms.
Abstract: Future products require more sophistication and flexibility from both the hardware and software points of view. In particular, these products involve several energy domains, which is one reason for the new requirements for system design and the integration of design and control. These are important aspects not only for industrial research and development personnel but also for academicians. In this paper, a modeling and control system perspective relevant to the systems approach and fast adaptive control systems is first presented. Specifically, some of the important aspects are properties from graphical system representation, achievable performance, and fast control algorithms. A few applications are then presented to illustrate some system design requirements and control system characteristics. These applications emphasize the demand for high performance systems which has introduced an increasingly challenging system design problem. The applications discussed include high-speed robot manipulators, high-speed and high-precision magnetic bearing systems, atomic resolution systems, and their control using digital signal processing boards. Experimental results pertaining to the control of a five-axis magnetically levitated turbopump are presented.
75 citations
[...]
TL;DR: In this article, a definition of mechatronics is presented, which will allow for its differentiation as an identifiable field of engineering and then follow this direction to discuss some of the associated design philosophy.
Abstract: With the explosively increasing cost/size-effectiveness of computers, mechatronic systems are becoming common in any engineering discipline dealing with the modulation of physical power. In this article, I attempt a definition of mechatronics that will allow for its differentiation as an identifiable field of engineering and then follow this direction to discuss some of the associated design philosophy. The definition draws on the centrality of computing in mechatronic systems.
74 citations
TL;DR: In this paper, the authors proposed a two-degrees-of-freedom speed servo system considering the robust stability according to inertia variation, which is designed on the basis of doubly coprime factorization and disturbance observer.
Abstract: This paper proposes a new speed servo system for a wide speed range based on doubly coprime factorization and instantaneous speed observer. The proposed speed controller is a new two-degrees-of-freedom speed servo system considering the robust stability according to inertia variation, which is designed on the basis of doubly coprime factorization and disturbance observer. In an ultra-low speed range, a speed sensor based on a rotary encoder cannot detect a motor speed. In this paper, a speed information in a very low speed range is estimated by the proposed instantaneous speed observer which mounts the parameter identification algorithm to cancel out the estimation error caused by parameter variation. Therefore, the two-degrees-of-freedom speed servo system connecting the instantaneous speed observer regulates a motor speed robustly in a wide speed range including an ultra-low speed range, and it keeps the desired speed response for all speed reference including an ultra-low speed range.
TL;DR: In this article, the different steps in the evolution from smart machines to intelligent autonomous systems are discussed and illustrated with many examples, mainly taken from the author's research experience, and it is argued that mechatronics can be defined as the science of motion control.
Abstract: Mechatronics is emerging as a concurrent-engineering thinking framework in the process of designing complex machines. It is argued that mechatronics can be defined as the science of motion control. The different steps in the evolution from smart machines to intelligent autonomous systems are discussed and illustrated with many examples, mainly taken from the author's research experience.
TL;DR: In this paper, the role of sensors in the field of mechatronics has been identified, followed by the characterization of different sensing technologies, and problems with microsensors together with multisensor fusion applications is presented.
Abstract: Intelligence and flexibility are essential in a mechatronic product. To achieve the primary function of an integrated system, it is essential that the functional interaction and spatial integration between mechanical, electronic, control, and information technologies be accomplished in a synergistic way. Sensors are as important in the mechatronic system as the senses are to the human being. While the subject of sensors and the need of sensors are certainly important, it is also both pervasive and diffuse. This paper cannot in any sense be exhaustive of such a wide range of discussion, and will only attempt to discuss sensors related to mechatronics. In this paper, the role of sensors in the field of mechatronics has been identified, followed by the characterization of different sensing technologies. The discussion of microsensor technologies, advantage of microsensors, and problems with microsensors together with multisensor fusion applications is presented. An example of a capacitive micro proximity sensor using micromachining technology developed by the Center of Robotics and Intelligent Machines at North Carolina State University is also described.
TL;DR: In this article, the authors present many examples of both types of devices being developed in our laboratory, and discuss their associated open problems, concluding that medical applications of micromechatronics may have tremendous impact on the quality of medical care and may become a very attractive industrial market, provided that some critical technical problems are addressed.
Abstract: Micromechatronic systems integrate miniature precision mechanisms, actuators, sensors, and embedded control. They are suitable for application in the medical field particularly when miniaturization, reliability, and intimate interaction with the human body are required. Medical applications not only motivate the miniaturization of mechatronic systems, but also encourage the development of novel concepts and technologies for the integration of artificial and biological components into "hybrid" micromechatronic systems, thus giving origin to a new and intriguing field of research and application known as "biomechatronics". Micromechatronic devices can be exploited for acute intervention or for permanent (short- and long-term) implant in the human body. This paper presents many examples of both types of devices being developed in our laboratory, and discusses their associated open problems. Application fields include sensory substitution, internal organs substitution, neural prosthetics, and minimally invasive surgery. Most of the projects are performed in collaboration with other European research groups and industries and supported by programs by the European Union. The conclusion of our analysis is that medical applications of micromechatronics may have tremendous impact on the quality of medical care and may become a very attractive industrial market, provided that some critical technical problems are addressed and solved.
TL;DR: A specially designed compact control system, which is embedded into the NTU hand to satisfy the limited space, is developed to perform the control of the five-finger robot with 17 degrees of freedom (DOF).
Abstract: Compared to traditional tendon-driven robots, the mechanism design of the National Taiwan University hand has an uncoupled configuration and is compact in size. In this paper, a specially designed compact control system, which is embedded into the NTU hand to satisfy the limited space, is developed to perform the control of the five-finger robot with 17 degrees of freedom (DOF). There are total 17 actuators including transmission mechanism, 17 potentiometers, and 18 tactile sensor pads to be integrated. Those 17 actuators should be controlled simultaneously by integrating 17 position sensing signals and 18 tactile signals. Multi-loop position control is further complicated by multi-loop force control as well as sensor integration. The proposed control system distributes the computation load into several modules and utilizes the DSP chip. It takes advantage of the fuzzy control by introducing the knowledge of human and sensor fusion with the finger joint and tactility. Using the communication function of the control system, the knowledge bases can be loaded for high level computation and modified during run time.
TL;DR: In this article, it is shown that the passivity as an input-output property gives rise to a necessary and sufficient characterization of H/sub /spl infin/-tuning for disturbance attenuation of robotic systems, which can give another system theoretic interpretation of the energy conservation law.
Abstract: Dynamics and control of nonlinear mechanical systems and advanced mechatronic systems can be investigated more vividly and efficiently by using corresponding nonlinear position-dependent circuits that describe Lagrange's equations of motions and interactions with objects or/and task environments. Such expressions of Lagrange's equations via nonlinear circuits are indebted to lumped-parameter discretization of mechanical systems as a set of rigid bodies through equations of motion due to Newton's second law. This observation is quite analogous to validity of electric circuits that can be derived as lumped parameter versions of Maxwell's equations of electromagnetic waves. Couplings of nonlinear mechanical circuits with electrical circuits through actuator dynamics are also discussed. In such electromechanical circuits the passivity should be a generalization of impedance concept in order to cope with general nonlinear position-dependent circuits and play a crucial role in their related motion control problems. In particular, it is shown that the passivity as an input-output property gives rise to a necessary and sufficient characterization of H/sub /spl infin//-tuning for disturbance attenuation of robotic systems, which can give another system theoretic interpretation of the energy conservation law.
TL;DR: In this paper, a hybrid cam mechanism consisting of a hybrid drive, which is a combination of a servomotor, a constant velocity motor and a cam follower mechanism is proposed.
Abstract: This paper investigates the problem of driving a machine with several reciprocating heavy inertias. The drive should also realize some programmable flexibility of the motion, so that the operation of the machine, e,g., synchronization between different motions and duration of standstills, can easily be modified. The use of a single servomotor for every motion is not the best solution, since it does not allow for energy recuperation. This means that the installed servomotor power will be much higher than the required net peak power for the machine as a whole. The presented solution, however, reduces the servomotor peak torque and power by one order of magnitude, and makes energy transfer between the motions possible. The hybrid cam mechanism consists of a hybrid drive, which is a combination of a servomotor, a constant velocity motor and a cam follower mechanism. The operation principle exploits the nonlinear characteristics of the cam to add flexibility at low cost of energy. The hybrid solution is particularly successful for motions involving high peak acceleration. In addition, the concept can be used to reject disturbances. Simulations show the performance of the hybrid cam mechanism.
TL;DR: A number of examples from actual Swiss Federal Institute of Technology research, ranging from nanomanipulation tasks and medical devices to a mobile service robot, demonstrate the application of the concept of intelligent machines.
Abstract: One of the topics of mechatronics is the design of "intelligent" machines, thus making them different from previous ones and allowing more sophisticated cooperation between humans and machines. Such machines are expected to emulate human skills and to communicate and interact with their human users on an appropriate level. The requirements for such human-oriented machines and the implications on their design will be discussed here. A number of examples from actual Swiss Federal Institute of Technology (ETH) research, ranging from nanomanipulation tasks and medical devices to a mobile service robot, demonstrate the application of the concept.
TL;DR: A generalized coordinate system referred to as a task-oriented coordinate system is designed, so that the position and orientation of a segment can be adjusted compliantly according to the external force from existing segments with which the segment is assembled together.
Abstract: This paper proposes a task-oriented force control system for the assembly of segments of a shield tunnel excavation system. First, we design a generalized coordinate system referred to as a task-oriented coordinate system, so that the position and orientation of a segment can be adjusted compliantly according to the external force from existing segments with which the segment is assembled together. Then, a hybrid position/force control algorithm is designed for a parallel link robot with hydraulic actuators. The system is experimentally applied to the assembly of honey-comb shaped segments. The experimental results illustrate the validity of the proposed system.
TL;DR: In this article, a hand with four hydraulic fingers, together with control and power electronics, represent a typical mechatronic system for grasping, regrasping, and manipulation with an artificial hand being composed of several fingers.
Abstract: Grasping, regrasping, and manipulation with an artificial hand being composed of several fingers require control strategies to assure reasonable cooperation of the fingers with respect to an object. This paper presents such concepts. They are verified by a hand with four hydraulic fingers, which together with control and power electronics, represent a typical mechatronic system.
TL;DR: The development and integration of sensor technology for herring roe grading is described and an "intelligent" decision-making system, with multiple levels of abstraction, is used to determine the final grade of the product.
Abstract: The development and integration of sensor technology for herring roe grading is described. In this application, by and large, grading is presently done by hand. Shape, firmness/texture, color and weight all play key roles in determining the grade of a roe skein. Furthermore, number of these variables are quite subjective both in the way they are determined by human graders, and in the way they affect the overall grade of a skein. Thus, in the present system an "intelligent" decision-making system, with multiple levels of abstraction, is used to determine the final grade of the product. The system uses a model base and also a knowledge base developed through interactive acquisition of knowledge from grading experts and off-line experiments. These are implemented as a set of fuzzy-logic rules and model matching procedures. A prototype grading machine has been developed and tested at an industrial plant. Typical experimental results are presented and studied.
TL;DR: The first real robot in space that flew with shuttle Columbia in early 1993, the ROTEX, was a multisensory gripper developed by the German Aerospace Center (DLR) as mentioned in this paper.
Abstract: The paper outlines the DLR's mechatronic developments in the robotics area over the last five years. They aim at designing a new multisensory, modularly configurable lightweight robot generation in a unified and integral way. A first step in this direction has been the development of a complex multisensory gripper. It turned out to be a key element in ROTEX, the first real robot in space that flew with shuttle Columbia in early 1993. Sensors and actuators in DLR's new ultra-lightweight robot show up miniaturized integration of mechanics, electronics, and microprocessor control. Joint torque control based on inductive sensing is realized in the compact, highly reducing rotational gearings. With optimized carbon-fiber grid structures, optical high-speed information transfer between the joints and all power and signal electronics integrated into the arm, a new extremely lightweight type of robot arises. Joint control concepts are outlined and a 7 degree-of-freedom version of such a lightweight arm is described. The paper also outlines the concept of the artificial muscle and its use in the fingers of a new modular articulated robot hand. Sensor-based man-machine interfaces and automatic camera guidance by robots in minimal invasive surgery are other topics covered in the paper.
TL;DR: There is a need for encoder solutions which do not increase overall system cost, but offer a controllable device, and their miniaturization problems are highlighted, followed by suggestions of suitable architectures for small devices.
Abstract: Rotor position and speed information is essential for the control of motors, In fact, several encoders for motors with diameters greater than 13 mm already exist on the market, but most of the solutions are too expensive or unsuitable for smaller applications. Considering the low cost of small drives and their growing number in automation systems, there is a need for encoder solutions which do not increase overall system cost, but offer a controllable device, After a brief summary of existing angular encoders, their miniaturization problems are highlighted, followed by suggestions of suitable architectures for small devices.
TL;DR: In this article, the authors assess the present situation of mechatronics in the Netherlands and describe the postgraduate "mechatronic designer course", introduced in 1991, and the principles of this course and how these principles have been implemented.
Abstract: This article assesses the present situation of mechatronics in the Netherlands. After a short historical survey, it describes the postgraduate "mechatronic designer course", introduced in 1991. It deals with the principles of this course and how these principles have been implemented. Also, the activities of the Dutch government in cooperation with the industrial mechatronics community to enhance the awareness of mechatronics, especially directed toward small and medium-sized enterprises (SMEs) is described.
TL;DR: The field of intelligent control for human-machine systems (HMS) from a subjective point of view is summarized and directions of research to approach the realization of more intelligent systems are discussed.
Abstract: In this article we try to summarize the field of intelligent control (IC) for human-machine systems (HMS) from a subjective point of view. Mechatronic components have become intelligent from integrating mechanical, electrical and software intelligence in minimum space, certainly an important step in building IC systems. Because of this, and of successes using artificial neural networks, fuzzy logic and genetic algorithms, so called soft computing, the field of IC is exciting with a bright future. This article attempts to anticipate this future and discusses directions of research to approach the realization of more intelligent systems. Human inclusion in such IC systems is as important as to increase autonomy, flexibility, and fault tolerance. Iterative improvement over trials and optimal system design are important issues. The authors' research to realize IC of dextrous manipulation is briefly reviewed discussing the key results and lessons.
TL;DR: In this article, a hybrid integrator backstepping controller is proposed for robotic manipulators actuated with brushless DC motors in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of actuators.
Abstract: In this paper, a hybrid integrator backstepping controller is proposed for robotic manipulators actuated with brushless DC motors in the presence of arbitrary uncertain inertia parameters of the manipulator and the electrical parameters of the actuators. The main features are: 1) the design, requiring at most the joint velocities and stator currents feedback; 2) the semiglobal asymptotic stability of the controller being established in the Lyapunov sense; and 3) suitability of the scheme for multijoint robots. Simulation results are included to demonstrate the tracking performance.
TL;DR: In this paper, the educational requirements for mechatronics are analyzed, and a description of how they have been addressed in the UK is given, with particular reference to applications-oriented research.
Abstract: Mechatronics and its development in the UK are discussed, with particular reference to applications-oriented research. The educational requirements for mechatronics are analyzed, and a description is given of how they have been addressed in the UK. Various examples are given of professional and company issues which have arisen as a consequence of mechatronic developments in the UK. Examples of mechatronics research from a number of academic and industrial groups and organizations in the UK are provided, including some examples from the authors' own work. Finally, some limitations and future trends in the direction and development of UK mechatronics are considered.
TL;DR: The experiment proved the feasibility of the ROR as an integrated robotic system to support human office work and a unique object model, which accumulates information concerning motion of the object, is proposed.
Abstract: This paper proposes a novel human-robot symbiosis system named a Robotic Office Room (ROR). The understanding, recording and retrieving of telephone call behavior are successfully demonstrated as a typical example of an office work-supporting function of ROR. A unique object model is proposed, which accumulates information concerning motion of the object. This model enables the system to understand human behavior, not by monitoring the motion of the human, but by monitoring the motion of the object-typically, a telephone or pen. Since the model requires the system to pay spatial and temporal attention only to the target object and related motions, it saves computing power. Repertoires of understandable behavior can easily be expanded by simply adding new object models. The ROR is equipped with networked machines. The concept of "ubiquitous link" consisting of unique image channels and remote control channels is proposed. The image channel and the remote control channel utilize TV images and either ultrasonic waves or infrared rays, respectively. Such cooperative support of humans by networked machines is realized that when a human starts to talk on the phone, the ROR not only starts to record the image of the human's behavior, utilizing a VCR, but also turns down the volume on an audio set. The experiment proved the feasibility of the ROR as an integrated robotic system to support human office work.
TL;DR: In this paper, a robust tracking control scheme based on variable structure systems (VSS) theory is presented to cope with the uncertainties and parameter variations in mechatronic arm dynamics.
Abstract: A robust tracking control scheme based on variable structure systems (VSS) theory is presented to cope with the uncertainties and parameter variations in mechatronic arm dynamics. A modification of VSS is used to remove its restrictions with regard to chattering and required control efforts. By blending VSS with a self-organizing controller (SOC), a sliding mode self-organizing controller (SLIMSOC)scheme has been developed. In this scheme, both control actions and performance evaluation are executed using the distance from the desired sliding surface and rate of approach to it. Comparisons are drawn and it is shown that the inherent robustness properties of variable structure systems are retained while the undesirable chatter motion of the sliding mode is eliminated. The results are illustrated by applications of SLIMSOC on a direct drive SCARA type of robot.
TL;DR: A mechatronics research program was carried out in Finland from 1987 to 1990 as a joint project between industry and research centers, and work has been continued in several new technology programs, especially in applications of learning and intelligent systems.
Abstract: A mechatronics research program was carried out in Finland from 1987 to 1990 as a joint project between industry and research centers. The program stimulated cooperation between these partners and supported the companies' own R&D projects. It also encouraged individuals in companies, together with research centers, to contemplate future possibilities in an innovative, interdisciplinary way and in teams. This resulted in new product concepts, and new collaborative applied research activities and programs with new goals. This work has been continued in several new technology programs, especially in applications of learning and intelligent systems which will be carried out from 1995 to 1998. The rapid progress of technology gives continuously new possibilities to meet the needs of customers. Soft computing with a control of nonlinearities is the new wave in making dramatic improvements in product and process performances.