International Journal of Applied Electromagnetics and Mechanics - Volume 36, issue 1-2

Article Type: Editorial

Abstract: Preface to the Proceedings of the International Conference on Mechatronics and Information Technology (ICMIT 2005, ICMIT 2007)

DOI: 10.3233/JAE-2011-1338

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 1-2, 2011

Authors: Song, Ki Won | Choi, Gi Sang | Choi, Gi Heung

Article Type: Research Article

Abstract: Tracking position control of a linear magnetic actuator implemented on distributed control network was studied. In the distributed control system involving a discrete-time controller and a linear magnetic actuator, time delay happens as the controller reads the sensor data or sends out the control input to the actuator located at a local or a remote site. In many cases the time delay is not ignorable, and has significant effect on the control system performance. In order …to compensate for the adverse effect of the time delay, the modified Smith predictor was introduced to the control system. The results of simulation and experiment show that the performance of linear magnetic actuator can be improved by augmenting the modified Smith predictor onto the existing control system. With the modified Smith predictor, the position error is reduced and the constant disturbance is suppressed. Show more

Keywords: Tracking position control, linear magnetic actuator, Smith predictor

DOI: 10.3233/JAE-2011-1339

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 3-10, 2011

Authors: Lim, Yo-An | Kim, Jong-Phil | Ryu, Jeha

Article Type: Research Article

Abstract: This paper presents a frequency-dependent damping element, called an analog input shaper (AIS), to improve the stability of haptic interaction with virtual or real environments. High frequency inputs to a haptic interface, which usually occur in the collision with very stiff objects, can bring limit cycle oscillations and instabilities. In order to reduce these high frequency inputs and thus to improve the stability of haptic interaction, the AIS is added to the haptic system. Moreover, the …AIS is applied to a passivity-based haptic stability control algorithm, called an energy-bounding algorithm (EBA), to increase the displayed impedance range by the EBA. Through scaled teleoperation experiments using an atomic force microscope (AFM), we show that the AIS can enhance stability during haptic interaction and consequently increase impedance range that a haptic interface can stably display. Also, we show that the AIS can alleviate conservativeness of the passivity-based haptic control algorithms. Show more

DOI: 10.3233/JAE-2011-1340

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 11-27, 2011

Authors: Sasaki, Minoru | Kuribayashi, Takumi | Ito, Satoshi | Inoue, Yoshihiro

Article Type: Research Article

Abstract: In this paper an active random noise control using adaptive learning rate neural networks with an immune feedback law is presented. The adaptive learning rate strategy increases the learning rate by a small constant if the current partial derivative of the objective function with respect to the weight and the exponential average of the previous derivatives have the same sign, otherwise the learning rate is decreased in proportion to its value. The use of an adaptive …learning rate attempts to keep the learning step size as large as possible without inducing oscillation. In the proposed method, because an immune feedback law is changing the learning rate of the neural networks individually and adaptively, it is expected that the neural cost function will reach its minimum rapidly, resulting in a reduced training time. Numerical simulations and experiments of active random noise control with the transfer function of the error path will be performed to validate the convergence properties of the method. Control results show that the adaptive learning rate neural network control structure can outperform linear controllers and conventional neural network controllers for active random noise control. Show more

Keywords: Active noise control, random noise, immune feedback law, adaptive filtering algorithm

DOI: 10.3233/JAE-2011-1341

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 29-39, 2011

Authors: Zhu, Yu-wu | Lee, Sang-geon | Cho, Yun-hyun

Article Type: Research Article

Abstract: The problem in improving the high positioning precision of permanent magnet linear synchronous motor (PMLSM) for direct drive conveyer is the large detent force, which contains two components: one is the cogging force caused by the interaction between the permanent magnet (PM) and the iron core, the other is the end effect caused by the finite mover length. In this paper a force compensator in the field oriented control (FOC) algorithm is employed to reduce this …detent force, thus the thrust and the normal force characteristics analyses of PMLSM are of the most importance. First the characteristics of the thrust and the normal force are simulated by finite element method (FEM), and the relation of the thrust and the normal force to the q-axis current is analyzed. Then the components of detent force are defined by Fourier series using the curve fitting method, and compensated by injecting the instantaneous currents using the FOC method. Finally the dynamic characteristics of this PMLSM for direct drive conveyer are investigated, and the numerical results are reported to validate the effectiveness of this proposed method. Show more

Keywords: Permanent magnet linear synchronous motor, detect force, field oriented control, thrust ripple, current compensation

DOI: 10.3233/JAE-2011-1342

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 41-48, 2011

Authors: Liu, Diantong | Guo, Weiping

Article Type: Research Article

Abstract: The nonlinear dynamic model of a class of underactuated mechanical systems (UMSs) in a potential field is built with the Lagrangian method and some system properties are analyzed such as the system passivity. A genetic algorithm (GA) based stable intelligent control algorithm is proposed for the class of UMSs combining fuzzy control and sliding mode control. The real-valued GA is used to adjust the parameters of stable intelligent controller to improve the system performance. The underactuated …double-pendulum-type overhead crane (DPTOC) is used to validate the proposed control algorithm. The system is proved to be stabilized asymptotically to its equilibrium with sliding mode theory. Simulation results illustrate the system's complexity and the validity of proposed control algorithm under different conditions. Show more

Keywords: Underactuated mechanical systems, stable intelligent control, real-valued genetic algorithm, overhead crane

DOI: 10.3233/JAE-2011-1343

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 49-61, 2011

Authors: Sasaki, Minoru | Yamada, Hiroyuki | Nam, Yoonsu | Ito, Satoshi | Inoue, Yoshihiro

Article Type: Research Article

Abstract: This paper presents a system identification process and control system design of an artificial neural network based suspension assembly with self-sensing micro-actuator for hard disk drives. Artificial neural networks can be used effectively for the identification and control of nonlinear dynamical systems such as flexible micro-actuators and self-sensing systems. Three neural networks are developed for the self-sensing micro-actuator. The first for system identification, the second for inverse modeling for control using the …signal from a laser sensor, and the third for inverse modeling for control using the signal from a self-sensing piezoelectric. We also use a neural network inverse model to control the suspension assembly which includes a micro-actuator pair. Simulation and experimental results show that good control performance can be achieved using artificial neural networks. Show more

Keywords: Neural network, identification and control, self-sensing, micro-actuator, hard disk drive, dual-stage actuation

DOI: 10.3233/JAE-2011-1344

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 63-70, 2011

Authors: Yamaguchi, Katsuhiko | Imae, Kazuhito | Nittono, Osamu | Takagi, Toshiyuki | Yamada, Koji

Article Type: Research Article

Abstract: A new possibility of residual stress detector is proposed for iron based materials through measurement of angle resolved Barkhausen noise which is known as phenomena of dynamic magnetic process. It is important for keeping safety of our society to early detect metal fatigue, therefore the convenient residual stress detector will be available especially for machines including any robots given heavy loads

Keywords: Residual stress, nondestructive evaluation, Barkhausen noise, metal fatigue

DOI: 10.3233/JAE-2011-1345

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 71-74, 2011

Authors: Ohtaki, Yasuaki | Hu, Dan | Hashimoto, Koichi | Inooka, Hikaru

Article Type: Research Article

Abstract: This paper presents a method for indoor personal positioning especially addressing on a simple gait measurement using a body-mounted inertial sensor, a walk path estimation algorithm, and a trajectory identification technique. Considering utility of on-site customer traffic tracking, the method was designed to be autonomous needless of neither external measures nor cumbersome installations to the environment. The inertial sensor combining three-dimensional accelerometer, angular rate sensors, and geomagnetic sensors was used to assess …walking dynamics and to obtain changes of heading directions. To avoid an inherent problem of the walk trajectory estimation by conventional dead-reckoning algorithm, an advanced probabilistic map matching method which employs a Particle filter was developed. The experiment with healthy male adults was evaluated to confirm the utility of the method in a condition of small retail store. The result showed that the proposed method demonstrated sufficiently feasible tacking which delineated personal trajectories and positioning while shopping. The method showed possible availability with the portable instrument and improved estimation accuracy by the advanced probabilistic map matching which identifies proper routings on the basis of the maximum likelihood. The method will be useful to enhance ambulatory personal tracking technique in daily indoor environment. Show more

Keywords: Human walking, ambulatory measurement, inertial sensor, geomagnetic sensor, indoor positioning, location estimation, dead reckoning, map matching, particle filter

DOI: 10.3233/JAE-2011-1346

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 75-83, 2011

Authors: Sagawa, Koichi | Kimura, Orie

Article Type: Research Article

Abstract: A robot manipulator control method using an electromyogram (EMG) from a human face is proposed. The robot has a three-degree-of-freedom arm with an end effector installed on the tip of the robot. The amplitude of the EMG signal generated from the masseter, a jaw muscle, is used to control the robot hand velocity and to grasp the object. The difference of the EMG level between right and left masseter determines the hand's direction of movement. The …open-close control of the robot hand is activated by detecting double clenches performed within 0.6 s. Low-pass filters of two kinds are applied to the measured EMG to enable reliable and effortless control of the velocity and grasping task. Picking, transferring, and placing of a brick object are performed. The effectiveness of the proposed method was verified. Show more

Keywords: Robot control, electromyogram, hands free control, masseter, experiment

DOI: 10.3233/JAE-2011-1347

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 36, no. 1-2, pp. 85-93, 2011