Mechatronics education

2001-06-01

Suggestions

Experimental Validation of a Feed-Forward Predictor for the Spring-Loaded Inverted Pendulum Template
Uyanik, Ismail; Morgul, Omer; Saranlı, Uluç (Institute of Electrical and Electronics Engineers (IEEE), 2015-02-01)
Widely accepted utility of simple spring-mass models for running behaviors as descriptive tools, as well as literal control targets, motivates accurate analytical approximations to their dynamics. Despite the availability of a number of such analytical predictors in the literature, their validation has mostly been done in simulation, and it is yet unclear how well they perform when applied to physical platforms. In this paper, we extend on one of the most recent approximations in the literature to ensure it...
Random Set Methods Estimation of Multiple Extended Objects
Granstrom, Karl; Lundquist, Christian; Gustafsson, Fredrik; Orguner, Umut (Institute of Electrical and Electronics Engineers (IEEE), 2014-06-01)
Random set-based methods have provided a rigorous Bayesian framework and have been used extensively in the last decade for point object estimation. In this article, we emphasize that the same methodology offers an equally powerful approach to estimation of so-called extended objects, i.e., objects that result in multiple detections on the sensor side. Building upon the analogy between Bayesian state estimation of a single object and random finite set (RFS) estimation for multiple objects, we give a tutorial...
Simple derivative-free nonlinear state observer for sensorless AC drives
Akin, Bilal; Orguner, Umut; Ersak, Aydin; Ehsani, Mehrdad (Institute of Electrical and Electronics Engineers (IEEE), 2006-10-01)
In this paper, a new Kalman filtering technique, unscented Kalman filter (UKF), is utilized both experimentally and theoretically as a state estimation tool in field-oriented control (FOC) of sensorless ac drives. Using the advantages of this recent derivative-free nonlinear estimation tool, rotor speed and dq-axis fluxes of an induction motor are estimated only with the sensed stator currents and voltages information. In order to compare the estimation performances of the extended Kalman filter (EKF) and U...
Observability Through a Matrix-Weighted Graph
Tuna, Sezai Emre (Institute of Electrical and Electronics Engineers (IEEE), 2018-07-01)
Observability of an array of identical linear time-invariant systems with incommensurable output matrices is studied, where an array is called observable when identically zero relative outputs imply synchronized solutions for the individual systems. It is shown that the observability of an array is equivalent to the connectivity of its interconnection graph, whose edges are assigned matrix weights. Moreover, to better understand the relative behavior of distant units, pairwise observability that concerns wi...
Control of Planar Spring-Mass Running Through Virtual Tuning of Radial Leg Damping
Secer, Gorkem; Saranlı, Uluç (Institute of Electrical and Electronics Engineers (IEEE), 2018-10-01)
Existing research on dynamically capable legged robots, particularly those based on spring-mass models, generally considers improving in isolation either the stability and control accuracy on the rough terrain, or the energetic efficiency in steady state. In this paper, we propose a new method to address both, based on the hierarchical embedding of a simple spring-loaded inverted pendulum (SLIP) template model with a tunable radial damping coefficient into a realistic leg structure with series-elastic actua...
Citation Formats
A. M. Erkmen and R. Murphy, “Mechatronics education,” IEEE ROBOTICS & AUTOMATION MAGAZINE, pp. 4–4, 2001, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/49174.