Showing papers in "Mechatronics in 2016"

TL;DR: This review investigates its progress since the first reported use of control systems, covering the fractional PID proposed by Podlubny in 1994, and is presenting a state-of-the-art fractionalpid controller, incorporating the latest contributions in this field.

TL;DR: The proposed intelligent laser-welding architecture combines representation, prediction, and control learning: three of the main hallmarks of an intelligent system and promises to address several key requirements of modern industry.

TL;DR: In this paper, a model predictive controller is designed based on holistic control structure via active front steering and motor torque distribution, which stabilizes a vehicle along the desired states while rejecting skid and fulfilling its physical constraints.

TL;DR: In this article, a 3-degree-of-freedom (3DOF) lower limb rehabilitation robot (LLRR) was developed for the motion recovery in stroke patients, which involves hip, knee and ankle joints and can also be adjusted to fit for the different heights of patients.

TL;DR: An anthropocentric cyber-physical reference model is argued for as the basic decomposition unit for the design of distributed manufacturing control systems that assimilates all the required components of a synthetic hybrid system in an integrated way.

TL;DR: In this article, a nonlinear model predictive control (nonlinear MPC) scheme is proposed to ensure vehicle safety, good longitudinal acceleration and braking performance, preservation of driver comfort and lower power consumption.

TL;DR: In this article, the authors present a comparison between the Extended Kalman Filter (EKF) approach, classically used in the field of underwater robotics and an unscented Kalman filter (UKF), adapted to the AUV case, demonstrates to be a good trade-off between estimation accuracy and computational load.

TL;DR: A robust controller of an active orthosis used for rehabilitation purposes that is composed of the orthosis worn by the shank and has a complex dynamical model is presented.

TL;DR: In this paper, the stiffness modulation of ball joint based robotic spines using vacuum energy is proposed to strengthen the spine arm stiffness, particles are integrated into the ball joint spine, and experimental studies have shown that the integrated robotic spine has much better performance in terms of stiffness compared to the Ball Joint based spine without particle jamming.

TL;DR: The survey results show that the proposed ELM model is suitable and precise for sensor-less wind speed predictions and has much higher performance than the other approaches examined in this study.

TL;DR: In this article, a shape-memory-alloy (SMA) micromanipulator with gripping mechanism is presented, which is able to move in the x and y-axis by 7.1 mm and 5.2 mm, respectively, resulting in a maximum displacement of 8.9 mm.

TL;DR: In this paper, a hybrid solution to the problem of robots climbing on featureless surface is presented, where a biomimetic tail is implemented with torsion spring design, and the robot prototype ELAD (electrostatic and elastomer adhesion) can climb a slope of 80° on smooth surfaces at speed of 4 cm/s, and perch for more than 2h using on-board power.

TL;DR: In this paper, a Riccati-based approach is proposed to solve the norm-optimal ILC problem for linear time invariant (LTI) and linear time-varying (LTV) systems.

TL;DR: This research addresses the problem of slow climbing robots by integrating a light-weight arm and adhesion mechanism into an omnidirectional wheel based climbing robot, thus forming a hybrid mechanism that is agile in climbing and still able to perform plane transition.

TL;DR: In this article, an H ∞ torque-vectoring control formulation for a fully electric vehicle with four individually controlled electric motor drives is presented, where a gain scheduling of the controller parameters as a function of vehicle speed is implemented.

TL;DR: In this article, an assistive device for hand-opening impairment, characterized by an innovative mechanism, has been developed and tested by the authors, based on strict requirements of portability, low cost and modularity.

TL;DR: In this article, a modified acceleration inverse model compensator (MAIMC) was used to compensate the surplus force disturbance caused by active motion of a shaking table and to obtain high fidelity force loading tracking performance.

TL;DR: In this article, a mechanical-rotary impedance actuator (the MeRIA) is presented that is based on the controllable effective length of a mechanical bending bar, which can be implemented into an orthosis for future research on rehabilitation training.

TL;DR: In this paper, an adaptive integral robust controller is developed for high accuracy motion tracking control of a double-rod hydraulic actuator, which takes unknown constant parameters including the load and hydraulic parameters, and lumped unmodeled disturbances in inertia load dynamics and pressure dynamics into consideration.

TL;DR: The geometrical properties of printed waveguides are described as basis for further integration of functional elements and stress-induced cleaving is presented as a highly effective procedure with a root mean square surface roughness smaller than 60 nm.

TL;DR: In this paper, a finite elements model was used to determine the theoretical temperature profile of the liquefier in a steady state working regime, which was then validated with experimental data registered with four thermocouples fixed on the tested extruder.

TL;DR: In this paper, a linear piezoelectric actuator with four driving feet was constructed, where three longitudinal transducers were integrated in I-shape to form the proposed actuator, which contained one vertical transducer and two horizontal transducers.

TL;DR: In this paper, a 3D reconstruction method using feature points is presented and the parameters used to improve the reconstruction are discussed and a detailed discussion of the number of frames used by ICP and the ICP parameters is presented.

TL;DR: In this paper, a modular piezo-actuated translational flexure-based mechanism is investigated as a basis for the construction of bespoke micromanipulators, which allows individual single degree of freedom (DOF) translational modules to be serially coupled to form manipulators with multiple DOFs.

TL;DR: A time-domain vibration observer and controller for physical Human-Robot Interaction (pHRI) that does not require a model and can analyze a wide time frame with only a few computations is presented.

TL;DR: In this paper, a fuzzy combiner is integrated into the force controller to tune its control parameters on-line for vertebral lamina milling, and the results of contrast experiments showed that the milling process under fuzzy force control has shorter time and more stable longitudinal contact force.

TL;DR: This paper proposes an analytical method for improving energy efficiency in rest-to-rest motion through optimal planning, by selecting both the optimal motion law and the optimalmotion time (duration).

TL;DR: In this paper, the authors proposed a broadband frequency-tunable dynamic vibration absorber (DVA) whose natural frequency can be extended to more than 300% of the base value by using magnetorheological elastomers.

TL;DR: In this article, a multi-positive feedback (MPF) controller for active vibration reduction in piezoelectric-actuated flexible structures is presented, which consists of two sections where each operates using a set of actuators.

TL;DR: A two-level stochastic approach to optimize the energy management strategy for fixed-route HEVs and considerably outperforms the other two real-time HEV energy management strategies.