Showing papers in "Mechatronics in 2013"

TL;DR: In this article, a low-cost self-replicating rapid prototypers (RepRaps) is described and the costs of materials and time to construct it are quantified.

TL;DR: In this paper, a simple model of rotary crane dynamics that includes only significant centrifugal and Coriolis force terms is presented, which allows analytical solutions of the differential equations of the model to be derived.

TL;DR: In this paper, the authors considered the control of a high bandwidth electromagnetic active suspension system for a quarter car model in both simulations and experiments, and found that using the high bandwidth of the actuator comfort can be improved by 40% over the passive BMW whilst keeping suspension travel within the same limits.

TL;DR: In this article, the authors report a method for reducing the total energy consumption of pick-and-place manipulators for given TCP position profiles, by means of constant time scaling, starting from pre-scheduled trajectories compatible with the actuation limits.

TL;DR: In this paper, a stochastic, multi-parameters, divergence optimization method for the auto-tuning of proportional-integral-derivative (PID) controllers according to a fractional-order reference model is presented.

TL;DR: In this paper, a fractional pole-based PID controller is proposed to characterize the reaction curve of a S-shaped reaction curve in the first order plus time delay model with a single pole replacing the integer order pole.

TL;DR: This paper proposes a simple approach for designing a fractional order PI controller for controlling the speed of a DC motor, implemented on an FPGA target and its performance is compared to other possible benchmarks.

TL;DR: In this paper, a new fractional order chaotic system which exhibits interesting behavior such as two, three, and four scrolls was considered and a sliding mode control methodology was used to synchronize a unidirectional coupling structure for two chaotic systems.

TL;DR: In this article, a compliant force control actuator design for portable rehabilitation robots is presented, which consists of a servomotor, a ball screw, a torsional spring between the motor and the ball screw and a set of translational springs between the screw and the external load.

TL;DR: In this paper, the authors presented the application of fractional order system on modeling the permanent magnet synchronous motor (PMSM) velocity servo system, and two proportional integral (PI) controllers were designed for velocity servos using a simple scheme according to the identified fractional-order model and the traditional integer order one, respectively.

TL;DR: In this article, a simple and robust tracking control method based on a hyperbolic tangential sliding mode control (SMC) and time delay estimation (TDE) for a shape memory alloy (SMA) actuator is proposed.

TL;DR: In this paper, a model for torsional compliance of harmonic drives is proposed, and two test setups have been developed and built, which are employed to evaluate experimentally the behaviour of the system.

TL;DR: A robot-assisted approach for automatic steering of flexible beveled needles in percutaneous procedures uses duty-cycled rotation of the needle to perform insertion with arcs of adjustable curvature, and combines closed-loop imaging feedback with an intraoperative motion replanning strategy to compensate for system uncertainties and disturbances.

TL;DR: The Innovation and Entrepreneurship Integrated Project (IEIP) as discussed by the authors is a project-based learning in the School of Engineering of University of Minho, where four groups, each one composed of students from different engineering integrated master courses, compete against each other in developing or improving commercial products manufactured by actual industries.

TL;DR: A tele-monitoring system is proposed, using an inertial measurement unit (IMU) and a shoe-type ground reaction force (GRF) sensor called a Smart Shoe to measure a patient’s walking data, and transmitting the measured data via the Internet.

TL;DR: In this article, a jumping robot inspired by the locomotion of locusts is designed and a 3D model of the robot is designed, and a prototype is fabricated, which can jump more than 88 cm high at a takeoff angle of 80.33° and 86.92°.

TL;DR: In this article, a dynamic model for a tail-actuated robotic fish by merging rigid-body dynamics with Lighthill's large-amplitude elongated-body theory is presented.

TL;DR: In this article, a study of the integration of agile methods into mechatronics design education, as performed at KTH Royal Institute of Technology, is presented, showing that it is possible and favorable to integrate Scrum in a mechatronic capstone course and that this can enhance student preparation for a future career as designers or product developers.

TL;DR: In this paper, a special composite hydraulic cylinder, which includes two pistons and three working chambers, is proposed for driving the insulator fatigue test device, and the Oustaloup method is used to discrete the fractional order controller and the iteration feedback tuning method is presented to tune the controller parameters.

TL;DR: In this article, a new fractional-order proportional-Clegg integrator (FPCI) was proposed to tune its order α to achieve an optimized system performance, especially referred to avoid the Zeno solution.

TL;DR: In this paper, an electric vehicle actuated by two in-wheel DC motors is developed, where the high back-emf voltage in the motor coil substantially reduces the motor's torque generating capability.

TL;DR: In this article, an analytical estimation of voltage production of a piezoelectric cantilever beam when subjected to base excitation, with and without attached proof masses, is presented.

TL;DR: In this article, an H ∞ state feedback control method based on the corresponding bounded real lemma is proposed for fractional order systems (FOSs), which is evaluated on numerical examples.

TL;DR: In this work, IPMC based micro finger is actuated by controlled electromyography (EMG) signal, which is taken from human index finger via EMG sensor before transferring to IPMC for achieving the large bending behavior of IPMC.

TL;DR: In this paper, a hardware-in-the-loop prototype of an adaptive minimum energy cognitive lighting control is proposed, designed and built, where a sliding mode based extremum seeking controller (SM-ESC) including integer order (IO) and fractional-order (FO) strategies is firstly employed to minimize energy usage in the lights, while a PID controller is applied to maintain a light level.

TL;DR: A novel fractional-order sliding mode controller for output tracking of a time-varying reference signal is designed which can conquer the uncertainties and guarantees the asymptotic convergence of the system output toward the desired time-Varying Reference signal.

TL;DR: In this article, a single-wheel robot system called GYROBO is developed and controlled by the Mechatronics approach to make the complex dynamical system satisfy the specification as desired.

TL;DR: In this article, a low-consumption environmental self-adaptive bionic gait with phase factor of 0.25 and duty factor 0.454 is analyzed based on the analysis of pace order, gait parameters and single leg's terminal trajectory on uneven terrain.

TL;DR: In this article, two coaxial motorized gimbals stabilize an angular motion of an optical payload around a single axis using a MEMS gyro and an incremental encoder.

TL;DR: In this paper, a feed-forward-feedback controller is proposed to control the tip deflection of a large deformation flexible beam actuated by an SMA actuator wire, which is based on the inverse of the generalized Prandtl-Ishlinskii model.