Showing papers in "Mechatronics in 2017"

TL;DR: In this article, a survey extensively reviews current trends in robot tactile perception of object properties, including shape, surface material and object pose, and the role of touch sensing in combination with other sensing sources is discussed.

TL;DR: In this article, a purely data-driven modeling approach is presented for predicting and controlling the free bending angle response of a typical soft pneumatic actuator (SPA), embedded with a resistive flex sensor.

TL;DR: This paper analyzes several approaches to system inversion in view of their subsequent use, showing inappropriate use that is previously overlooked and leads to different insights and new approaches for both feedforward and learning.

TL;DR: In this paper, a cooperative data fusion system is proposed to provide a constantly updated global live view of the industrial environment, for coordinating the motion of the AGVs in an optimized manner.

TL;DR: In this paper, the problem of integrated longitudinal and lateral vehicle stability control is addressed using a modular optimal control structure, where the low level controller is designed to optimally regulate torque at each wheel based on the control inputs of the high level controller, and distribute required torque between the wheels via actuation system.

TL;DR: In this paper, a dual-envelop-oriented moving horizon path tracking controller is proposed to solve the situations that may cause collision and run out of road in traditional path tracking method.

TL;DR: In this paper, a bicycle model of the vehicle and the moment of the differential brakes is considered as an external torque is used to predict the lateral stability of vehicles using coordinated active front steering and differential brakes.

TL;DR: In this article, an overview of existing impedance control solutions for series elastic joints and derive the passivity characterizations that are still missing in the literature, thus providing a complete and coherent overview of the existing solutions, highlighting the advantages of impedance control based on positive acceleration feedback showing improved stability robustness and impedance accuracy with respect to existing solutions.

TL;DR: In this paper, a PI-D based control system is developed for over-actuated, hover-capable AUVs which enables a smooth transition from hover-style to flight-style operation with system stability and convergence proven using a Lyapunov approach.

TL;DR: In this paper, an integrated estimation and control system is developed for the stability and traction control of electric vehicles, where a model predictive control technique is used to track the desired vehicle yaw rate while maintaining small lateral velocity and tire slip ratios.

TL;DR: An improved adaptive equivalent consumption minimization strategy (IA-ECMS) is formulated based on identified driving behavior and predicted real time traffic information, which indicates the proposed energy management strategy holds potential in fuel economy improvement than A- ECMS.

TL;DR: In this paper, a sliding mode control (SMC) method is proposed to solve the control problem of overhead cranes suffering from both matched and unmatched disturbances, without tuning to linearizations or approximations.

TL;DR: In this article, a wearable and force-controllable hand exoskeleton system is proposed, which can deliver force to the fingertips for flexion/extension motions, and the performance of force transmission through linkage structure is verified by simulation and experiments.

TL;DR: In this paper, a flexure-based dual-axis gripper driven by two piezoelectric actuators (PEAs) is designed with an asymmetric structure which can be divided into left and right parts.

TL;DR: In this paper, a model-based feed-forward friction compensation system based on the ElastoPlastic friction model is proposed for trajectory tracking control with a linear drive axis with recirculating ball bearings and a fine-positioning axis with crossed roller bearings.

TL;DR: In this article, a system design and three locomotion control algorithms are proposed for a hydraulic lower extremity exoskeleton to enhance mobility and reduce muscle fatigue caused by backpack loads.

TL;DR: In this paper, the authors proposed a damping control approach with positive acceleration, velocity and position feedback (PAVPF) scheme for piezo-actuated nanopositioning stages to implement high-bandwidth operation.

TL;DR: In this paper, a dynamic output-feedback, robust, shared controller considering different drivers' characteristics is proposed to assist human drivers for path tracking, where uncertain, diverse parameters for describing different drivers characteristics including delay time, preview time and steering proportional gain are considered and handled by a polytope.

TL;DR: In this article, a limited-preview filtered B-spline (FBS) approach for minimizing errors in tracking a desired trajectory is presented, where the use of a receding horizon is used to recursively compute unknown coefficients that minimize tracking errors for small batches (subsets) of the trajectory at a time, by exploiting the local property of b-splines.

TL;DR: In this article, two nonlinear controllers based on saturation functions with varying parameters were used for set point regulation and trajectory tracking on an underwater vehicle, which combines the advantages of robust control and easy tuning in real applications.

TL;DR: In this article, a modular observer is proposed to estimate the vehicle longitudinal velocity, and input-to-state stability theory is utilized to prove that the estimation error converges to zero.

TL;DR: The aim of this paper is to develop a general framework for optimization-based ILC that allows for enforcing additional structure, including sparsity, through convex relaxations using l 1 norms, which has a large potential in control applications such as mechatronics.

TL;DR: In this paper, a novel Nonlinear Internal Model Control (NLIMC) approach was proposed to increase the performance and the robustness of a UAV with respect to structured or unstructured disturbances.

TL;DR: In this paper, a disturbance observer and state observer based terminal sliding mode (TSM) controller with acceleration data fusion is proposed for the active control of a seat suspension, which is validated using simulations with various bump excitations applied.

TL;DR: In this article, the authors present a CC-BY-NC-ND 4.0 license for the Mechatronics domain, which is used for the development of the MEchatronics project.

TL;DR: In this article, the problem of the design and implementation of a two-axis sun tracking system was addressed by applying a set of two robotic systems, one for the automatic orientation of the photovoltaic modules and the second for providing the reference trajectory (robotic sensor).

TL;DR: In this article, a flatness-based feed forward control method using jerk-limited trajectories to reduce undesired oscillations is presented for open-loop and closed-loop control for quasi-static microscanners.

TL;DR: In this article, a new hydraulic variable valve actuation (VVA) system is proposed and designed, which can significantly improve the engine performance in terms of the power density, volumetric efficiency, emission, and fuel consumption.

TL;DR: In this article, a new frequency estimation algorithm for adaptive notch filters is proposed to suppress the resonant frequency of both low and high frequency resonances in a servo controller and applied to a production printed-circuit-board inspection system.

TL;DR: In this article, the problem of improving the connection between the fixed frame and the end-effector of planar and spatial cable-driven robots is addressed by adding reflective pulleys to the attachment between the cable and the fixed-frame.