Forthcoming articles


International Journal of Mechatronics and Automation


These articles have been peer-reviewed and accepted for publication in IJMA, but are pending final changes, are not yet published and may not appear here in their final order of publication until they are assigned to issues. Therefore, the content conforms to our standards but the presentation (e.g. typesetting and proof-reading) is not necessarily up to the Inderscience standard. Additionally, titles, authors, abstracts and keywords may change before publication. Articles will not be published until the final proofs are validated by their authors.


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International Journal of Mechatronics and Automation (4 papers in press)


Regular Issues


  • Real-time Path Planning Algorithm for Autonomous Vehicles in Unknown Environments   Order a copy of this article
    by Jiefei Wang 
    Abstract: In this paper, a method of dynamic path planning algorithm for autonomous vehicles in cluttered environments is presented. The proposed method is based on the D* Lite algorithm with a smoothing method and local optimisation to enhance its performance in cluttered environments. The Lowess smoothing method has useful properties for the path planning problem especially in complex environments which involve lots of corners or direction changes required to avoid dynamic obstacles. Cubic Hermite spline interpolation is used to describe curvature continuous trajectories for autonomous vehicles. Knowing the start and goal position, a continuous smooth trajectory can be decided. Results of proposed method are shown in simulations and experiments. Trajectories are demonstrated in various environments with and without additional obstacles. Quantitative results are shown and analysed to validate the proposed method.
    Keywords: Autonomous Vehicles; D* Lite Algorithm; Lowess Smoothing; Cubic Hermite Spline.

  • Radiation Effect to the Performance of Robot Manipulator   Order a copy of this article
    by Shimeng Li, Hongfei Wang, Yuan Zheng, Lei Cao 
    Abstract: Robots have great potential in substituting human beings for operations in accidents of nuclear power plants; however, knowing that the radiation will potentially damage the robot components, how the robot will perform in radiation environment has never been discussed. In this paper, we claim that the performance of robot manipulators will vary because servo motor, the most critical component of the robot, will degrade due to the radiation. Degrading to the motor occurs because radiation damages the magnets residing inside the motor. Theoretical studies demonstrate that damage extent to the magnet is random. Once a random damage is done, the degrading of the motor is permanent in a deterministic way, which is reflected in the reduced back electromotive force (back-emf). We first use MATLAB to simulate the performance of servo motor variation before and after radiation based on the model of radiation demagnetization; and then build a three degree-of-freedom (DOF) manipulator to analyze the motion variation of a robot arm based on the results of motor performance variation.
    Keywords: robot manipulator; servo motor; radiation damage.

  • A Projection-based Making-human-feel-safe Human-Robot Cooperation System   Order a copy of this article
    by Diyi Liu, Jun Kinugawa, Kazuhiro Kosuge 
    Abstract: When a person is working on a human-robot cooperation system, he/she tends to worry about possible collisions with the robot, because of a lack of internal information about the robot. This internal information is, for example, an awareness of a workers presence or future robot motion. Knowing such internal information, he/she will feel safe since he/she can avoid possible collisions with the robot by foreseeing the motion of the robot. Therefore, this paper proposes a projection-based making-human-feel-safe humanrobot cooperation system that not only ensures the safety of a human worker but also ensures that the worker feels safe when working with a robot by displaying the internal information of the robot using projection technology. To develop this system, a projector is utilized on a human-robot cooperation system to project the internal information. An elastic band framework was implemented to plan a safe path considering the position of the worker. Finally, an evaluation experiment was conducted to illustrate the effectiveness of the system.
    Keywords: Human-Robot Cooperation; Manipulator; Make-human-feel-safe.

  • Adaptive controllers for a piezoelectric actuator without and with discontinuity   Order a copy of this article
    by Paul Woafo, Pegy Roussel Nwagoum Tuwa, Arnaud Notué Kadjie 
    Abstract: This paper deals with the dynamics and adaptive control of a piezoelectric micro-electromechanical device without and with discontinuity. The modelling of the device with discontinuity is carried out and its dynamics is studied using the bifurcation diagram to observe the regions of periodic and chaotic motions. The Lyapunov theory is used to design adaptive controllers to restore the prescribed dynamics of the system when it is subjected to short variation of one of its parameters. The efficiency of the controllers is tested using numerical simulations.
    Keywords: Adaptive control; backstepping control; piezoelectric actuator; discontinuity.