Mechatronic systems devices, design, control, operation and monitoring

0775_C000.fm Page i Tuesday, September 11, 2007 5:11 PM Mechatronic Systems Devices, Design, Control, Operation and Monitoring 0775_C000.fm Page ii Tuesday, September 11, 2007 5:11 PM Mechanical Engineering Series Frank Kreith & Roop Mahajan - Series Editors Published Titles Computer Techniques in Vibration Clarence W de Silva Distributed Generation: The Power Paradigm for the New Millennium Anne-Marie Borbely & Jan F Kreider Elastoplasticity Theor y Vlado A Lubarda Energy Audit of Building Systems: An Engineering Approach Moncef Krarti Energy Converstion D Yogi Goswami and Frank Kreith Energy Management and Conser vation Handbook Frank Kreith and D Yogi Goswami Finite Element Method Using MATLAB, 2nd Edition Young W Kwon & Hyochoong Bang Fluid Power Circuits and Controls: Fundamentals and Applications John S Cundiff Fundamentals of Environmental Discharge Modeling Lorin R Davis Handbook of Energy Efficiency and Renewable Energy Frank Kreith and D Yogi Goswami Heat Transfer in Single and Multiphase Systems Greg F Naterer Introductor y Finite Element Method Chandrakant S Desai & Tribikram Kundu Intelligent Transportation Systems: New Principles and Architectures Sumit Ghosh & Tony Lee Machine Elements: Life and Design Boris M Klebanov, David M Barlam, and Frederic E Nystrom Mathematical & Physical Modeling of Materials Processing Operations Olusegun Johnson Ilegbusi, Manabu Iguchi & Walter E Wahnsiedler Mechanics of Composite Materials Autar K Kaw Mechanics of Fatigue Vladimir V Bolotin Mechanism Design: Enumeration of Kinematic Structures According to Function Lung-Wen Tsai Mechatronic Systems: Devices, Design, Control, Operation and Monitoring Clarence W de Silva MEMS: Applications Mohamed Gad-el-Hak MEMS: Design and Fabrication Mohamed Gad-el-Hak The MEMS Handbook, Second Edition Mohamed Gad-el-Hak 0775_C000.fm Page iii Tuesday, September 11, 2007 5:11 PM MEMS: Introduction and Fundamentals Mohamed Gad-el-Hak Multiphase Flow Handbook Clayton T Crowe Nanotechnology: Understanding Small Systems Ben Rogers, Sumita Pennathur, and Jesse Adams Optomechatronics: Fusion of Optical and Mechatronic Engineering Hyungsuck Cho Practical Inverse Analysis in Engineering David M Trujillo & Henry R Busby Pressure Vessels: Design and Practice Somnath Chattopadhyay Principles of Solid Mechanics Rowland Richards, Jr Thermodynamics for Engineers Kau-Fui Wong Vibration Damping, Control, and Design Clarence W de Silva Vibration and Shock Handbook Clarence W de Silva Viscoelastic Solids Roderic S Lakes 0775_C000.fm Page iv Tuesday, September 11, 2007 5:11 PM 0775_C000.fm Page v Tuesday, September 11, 2007 5:11 PM Mechatronic Systems Devices, Design, Control, Operation and Monitoring Edited by Clarence W de Silva Boca Raton London New York CRC Press is an imprint of the Taylor & Francis Group, an informa business 0775_C000.fm Page vi Tuesday, September 11, 2007 5:11 PM CRC Press Taylor & Francis Group 6000 Broken Sound Parkway NW, Suite 300 Boca Raton, FL 33487-2742 © 2008 by Taylor & Francis Group, LLC CRC Press is an imprint of Taylor & Francis Group, an Informa business No claim to original U.S Government works Printed in the United States of America on acid-free paper 10 International Standard Book Number-13: 978-0-8493-0775-1 (Hardcover) This book contains information obtained from authentic and highly regarded sources Reprinted material is quoted with permission, and sources are indicated A wide variety of references are listed Reasonable efforts have been made to publish reliable data and information, but the author and the publisher cannot assume responsibility for the validity of all materials or for the consequences of their use No part of this book may be reprinted, reproduced, transmitted, or utilized in any form by any electronic, mechanical, or other means, now known or hereafter invented, including photocopying, microfilming, and recording, or in any information storage or retrieval system, without written permission from the publishers For permission to photocopy or use material electronically from this work, please access www.copyright.com (http:// www.copyright.com/) or contact the Copyright Clearance Center, Inc (CCC) 222 Rosewood Drive, Danvers, MA 01923, 978-750-8400 CCC is a not-for-profit organization that provides licenses and registration for a variety of users For organizations that have been granted a photocopy license by the CCC, a separate system of payment has been arranged Trademark Notice: Product or corporate names may be trademarks or registered trademarks, and are used only for identification and explanation without intent to infringe Library of Congress Cataloging-in-Publication Data Mechatronic systems : devices, design, control, operation and monitoring / Clarence W de Silva, ed p cm (Mechanical engineering series) Includes bibliographical references and index ISBN 978-0-8493-0775-1 (alk paper) Mechatronics I Silva, Clarence W de II Title III Series TJ163.12.M4113 2008 621 dc22 Visit the Taylor & Francis Web site at http://www.taylorandfrancis.com and the CRC Press Web site at http://www.crcpress.com 2007017632 0775_C000.fm Page vii Tuesday, September 11, 2007 5:11 PM Dedication To my friends at the National University of Singapore (alphabetically): Associate Professor Marcello Ang; Professor Ben M Chen; Professor Tong Heng Lee; Professor Jim A.N Poo; and Associate Professor Kok Kiong Tan For valuable support and professional collaboration vii 0775_C000.fm Page viii Tuesday, September 11, 2007 5:11 PM 0775_C000.fm Page ix Tuesday, September 11, 2007 5:11 PM Table of Contents Technology Needs for Mechatronic Systems C.W de Silva 1-1 Section I Mechatronic Devices Robotic Application of Mechatronics H Li and S.X Yang 2-1 Swiss Lever Escapement Mechanism Y Fu and R Du 3-1 Instrumented Wheel for Wheelchair Propulsion Analysis M Mallakzadeh and F Sassani 4-1 MEMS-Based Ultrasonic Devices T Siu and M Chiao 5-1 Polyaniline Nanostructures H Xia and H.S.O Chan 6-1 Section II Communication Technologies TCP Connectivity Analysis in Mobile Ad Hoc Networks S Adibi .7-1 i.LIGHT: Communication Using Visible Light G.K.H Pang 8-1 ix 0775_C029.fm Page 17 Tuesday, September 4, 2007 10:48 AM Online Monitoring and Fault Diagnosis of Ship Propulsion Systems 29-17 29.8 Conclusion Health monitoring, fault detection, and fault diagnosis are important for uninterrupted and high-quality performance of a mechatronic system Mechanical vibration is a popular signature that is used for this purpose The ship propulsion system is a mechatronic system In this chapter, an online monitoring and fault diagnosis system for ship propulsion systems was presented A neural network was employed to identify the features of torsional vibration of the shafting A simulated test bed was developed in-house, which implemented stepless speed regulation, adjusting the excitation force continuously and simulating four typical faults including rotor imbalance and misalignment of the shafting Experimental results were presented to validate the effectiveness of the developed approaches Faults such as rotor imbalance, shaft deflection and bearing wear usually cause transverse vibrations in the shafting but have little influence on the torsional vibration The excitation force is the primary cause of torsional vibration The experimental results indicated that the characteristics of the simulated test bed agreed with those in a real ship, and they were consistent with the calculated results from theoretical analysis This shows that the developed system is effective and feasible References Chen, J., Vibration Detection and Fault Diagnosis of Mechanical Equipment, Shanghai Jiao Tong Press, Shanghai, China, 1999 Feng, Z., Wang, Y., and Hu, Z., Kohonen network based fault diagnosis and its experiments, Journal of Agricultural Machinery, Vol 33, No 6, pp 103–106, 2002 Kuo, H., Wu, L., and Chen, J., Neural-fuzzy fault diagnosis in a marine propulsion shaft system, Journal of Materials Processing Technology, Vol 122, 12–22, 2002 Ciringione, J.L., Apparatus for Testing Torsional Vibration Dampers, U.S Patent 3,054,284, 1962 Zobrist, G.S., Torsional Exciter for a Rotating Structure, U.S Patent 4,283,957, 1981 Hao, Z., Li, J., and Xue, Y., Research and application of a simulated test-bed of torsional vibration of the diesel engine shafting, Diesel Engine Engineering, Vol 12, No 1, pp 74–80, 1991 Xu, M., Luo, Z., and Yan, J., Vibration, Shock and Measurement of Ship Power Machinery, Press of National Defense Industry, Beijing, China, 1981 Wang, Q., Torsional Vibration of the Diesel Engine Shafting, Dalian Polytechnic Unversity Press, Dalian, China, 1991 Liu, Z., Removal of rolling vibration in the diesel engine shafting, Wuhan Shipbuilding, No 4, pp 22–25, 1995 10 Chen, X., Calculation and testing of torsional vibration of ship shafting, Ship Engineering, No 1, pp 22–26, 2002 11 De Silva, C.W., Vibration—Fundamentals and Practice, 2nd ed., Taylor & Francis, CRC Press, Boca Raton, FL, 2006 12 Karray, F and de Silva, C.W., Soft Computing and Intelligent Systems Design, Addison-Wesley, New York, 2004 0775_C029.fm Page 18 Tuesday, September 4, 2007 10:48 AM 0775_C030.fm Page Tuesday, September 4, 2007 10:12 AM Index 0-junctoin, 17-7 1-junction, 17-7 802.11b, 7-9 A A/D, 4-3, 4-6 Abnormality, 23-4 Abrupt changes, 23-2 AC motor, 4-5, 4-25, 4-28 Acceleration, 3-4 Access Point (AP), 7-8 Access point, 9-2, 9-9, 9-11, 9-13 Accuracy, 4-3, 23-7 ACK, 7-4 Acknowledgement (ACK), 7-2, 7-5 Acknowledgement number, 7-2 Action potentials, 10-3 ActiveX, 29-8 Activity completion matrix, 15-4 Activity start matrix, 15-4 Actual measurements, 23-5 Actuator malfunctions, 23-2 Actuator optimization, 22-1 Actuator, 2-1, 22-1, 22-8, 28-11 Adaptive control, 11-1, 11-5 Adaptive fuzzy modeling, 16-1 Adaptive partition controller, 16-7 Adaptive sliding mode control, 12-9 Add-backlash function, 18-14 Add-element functions, 18-10 Add-friction function, 18-13 Additive measurement faults, 23-2 Additive process faults, 23-2 Ad-hoc elements, 7-9 Aerospace applications, 23-3 AI, 2-1 Alignment problems, 24-2, 24-3 Amplifier, 4-3 Amplitude, 3-14 Analytic symptom generation, 23-6 Analytical model, 23-3, 27-2 Analytical redundancies, 23-3 Angle deviation, 8-4 Angle, 2-6, 2-8 Angular acceleration, 3-4, 22-3 Angular displacement, 3-4 Angular motion, 4-28 Angular positions, 23-9 Angular rate measurements, 23-8 Angular rates, 23-7, 23-9 Angular velocity, 3-4 Aniline concentration, 6-8 Aniline monomer, 6-2 Antenna gain, 7-9 Antilock braking systems (ABS), 1-10 Antipersonnel landmines, 28-5 Antisense oligonucleotides(ASOs), 5-1, 5-5 Anti-windup, 13-2, 13-11 AP, 7-9 Apparent friction factor, 21-5 Application areas of mechatronics, 1-10 Applied force on handrim, 4-11, 4-13 Approximation image, 24-3 Arithmetic functions, 18-11 Arithmetic sites, 18-9 Armature control, 22-7, 22-9, 22-11 Artificial intelligence, 2-1 Artificial limbs, Assembly, 17-22 Asymptotically stable, 16-8, 16-10 Attitude determination and control system, 23-7 Attitude determination, 23-2, 23-7 Automated inspection, 24-2 Automobiles, 23-5 Autonomous robot, 2-1, 2-2 Autonomy, 23-2 Axial loads, 4-25 B Back e.m.f., 1-1 Back propagation training, 16-2, 16-4 Back up systems, 23-3 Backlash, 12-5 Balance wheel 3-2 Banking pin, 3-2 Barbalat’s lemma, 11-6 Base temperature, 21-3 Batch training, 26-9, 26-16 Beat per hour, bph, 3-3 Beat, 3-3 Behavior arbitration, 28-19 Behavior planning, 28-16 Behavior, 2-1, 2-9 Behavior-based, 2-1, 2-2 Bernoulli-Euler beam, 13-3 BG model simplification, 17-10 Biases, 23-8 Bias-free, 23-8 I-1 0775_C030.fm Page Tuesday, September 4, 2007 10:12 AM I-2 Mechatronic Systems: Devices, Design, Control, Operation and Monitoring Bicausality, 17-18 Bilevel thresholding, 24-6 Bit error rate (BER), 7-7 Bluetooth, 9-1, 9-3, 9-5, 9-7, 9-9, 9-11, 9-13 Bollinger Bands (BB), 24-1, 24-3, 24-5, 24-7, 24-9 Bond graph embryo model, 18-9 Bond graph terminology, 17-4 Bond graphs, 17-3 Bond, 17-4 Boolean logic, 22-5 Border Gateway Protocol (BGP), 7-3 Borders, 24-9 Boundary conditions, 13-4 Bounded disturbance, 25-3 Bounded signal, 25-2 BP network, 29-4 Brain-computer interface, 10-3 Brain-machine interfacing, 10-1 Breakage, 26-1, 26-3, 26-8, 26-10, 26-12, 26-14, 26-16 Broken end, 24-2, 24-7, 24-8 Bumper switches, 28-22 Bumper switches, 28-6 Bumper, 2-1, 2-9, 2-10 β-statistic, 23-9 C C, 24-10 Camera, 2-3, 2-5, 2-7, 2-10 Candidate pattern, 29-6 Capacitance, 17-6 Capacitive micro-ultrasonic transducers (cMUT), 5-3 Carrier sense, 7-9 Cartesian robotic systems, 11-1 Catastrophic failure, 23-4 Causality analysis, 17-13 Causality stroke, 17-13 Cavitation, 5-4 CCD, 14-2 Centripetal force, 4-28 Characteristic signature, 23-4 Chi-square test, 23-6 chi-square, 23-9 Chi-test, 23-8 Choquet fuzzy integral, 19-6 Clamped mass, 13-4 Clamped-free, 13-4 Closed-loop control systems, 23-4 Closed-loop stability, 13-12 Closed-loop system, 16-8, 16-10 CMY, 14-2 CNC machines, 25-1, 25-8 CNP, 10-2 Code bits, 7-2 Coefficient of variation, 4-23, 4-26, 4-29, 4-31 COG, 2-8 Cognitive learning rate, 21-8 Collision avoidance, 9-1, 9-9, 9-11 Collision, 2-1, Color blobs, 14-6 Color model, 14-2 Common mineral acid, 6-2 Communication, 8-1 Compatibility equation, 17-19 Compatibility equation, 17-7 Competence levels, 2-1, 2-3 Complementarity, 19-7 Component leaks, 23-2 Component redundancy, 23-3 Compound object creation, 18-13 Computational power, 24-9 Computer Numerical Control (CNC), 1-10, 12-1 Computer vision, 14-2 Conceptual design, 19-11, 19-17 Concurrent design, 19-4 Condition monitoring, 23-3 Conducting PANI, 6-1 Confidence number, 23-6 Conjugation length, 6-10 Constraint, 13-11, 21-2, 21-4, 21-6, 21-13 Construction functions, 18-3, 18-10 Contact force control, 13-2 Contact radius, 3-4 Continuity equation, 17-7, 17-19 Continuous-time differential equation, 3-9 Contour error prediction, 12-7 Contour error, 12-7 Contouring accuracy, 12-7 Contraction loss coefficient, 21-5 Control horizon, 13-10 Control instruments, 23-2 Control rules, 2-8 Control system, 2-5, 2-8, 11-2, 20-3 Control, feed drives, 12-5 Control, machine tool axes, 12-5 Controllable, 16-7 Controller design, 16-7 Convection, 21-2, 21-13 Convergence, 21-6 Convolution filter, 24-1, 24-3, 24-8 Coordinate transformation, 14-8 Correspondence node (CN), 7-8 Cortical control, 10-3 Cortical neural prostheses, 10-2 Cosine tuning, 10-4 Cost function, 13-11 Coupling, 6-10 Crawling motion, 28-9 Crossover, 18-4 Cross-talk, 4-3 Crown gear, 3-1 CSMA/CA, 7-9 CSMA/CD, 7-9 Cutting conditions, 26-1, 26-16 Cutting force, 26-1, 26-10, 26-16 Cutting tool, 26-1, 26-8 D Data fusion, 23-8 Data offset, 7-2 Database, 24-8 0775_C030.fm Page Tuesday, September 4, 2007 10:12 AM I-3 Index DC motor, 22-1, 22-8, 22-10, 22-12 Deadlock, 15-2 Decision function generator, 23-5 Decision functions, 23-5 Decision making, 23-2 Decoding, 10-4, 10-6 Defect detection, 24-2, 24-5, 24-10 Defect-free image, 24-3, 24-6, 24-8 Defective image, 24-3, 24-6, 24-8 Defective regions, 24-3, 24-9 Defects, 24-2, 24-5, 24-10 Deffuzification, 2-8 Degree of membership (DOM), 22-5 Demodulation, 8-2 Dendritic structures, 6-6 De-noising filter, 24-5 Dependent variables, 4-26 Derivative gain, 22-4 DERVISH robot, 28-4 Desensitizing, 23-5 Design 1-4, 1-7 Design index, 1-9 Design parameter, 21-6, 21-8, 21-10 Destination port, 7-2 Detailed design, 19-13, 19-20 Detailed subimages, 24-3, 24-6, 24-9 Detection success rate, 24-6, 24-8 Detection, 23-2 Diagnosis, 23-1, 23-8 Diagnostic observer scheme, 23-5 Diagnostic technique, 23-3 Diameter of PANI nanorod, 6-5 Diesel propulsion system, 29-2 Differential equation, 22-5 Differential steering, 2-1, 2-3, 2-7 Digital camera, 8-7 Direct sensor, 26-1 Direct Thresholding (DT), 24-1, 24-3, 24-5, 24-7, 24-9 Directional guidance, 8-5 Directional tuning, 10-3 Discrete event model, 15-2, 15-7 Discrete-event, 15-1 Discretization, 27-9, 27-13 Displacement variable, 17-5 Displacement, 3-4 Distance reception, 8-4 Distinguishing ability, 23-10 Distribution Coordination Function (DCF), 7-9 Disturbance torques, 23-9 Disturbances, 23-2, 23-5 Domain Name System (DNS), 7-3 Dominant model, 25-2, 25-4 Drag force, 21-3, 21-5 DSR fixed header, 7-8 DSR, 7-7, 7-9 Duty cycle, 28-14 Dynamic Host Configuration Protocol (DHCP), 7-3 Dynamic load change, 11-2 Dynamic loading set-up, 4-25 Dynamic modeling, 3-2 Dynamic performance, 22-1 Dynamic range, 21-9 Dynamic Source Routing (DSR), 7-1 Dynamic verification, 4-28 Dynamics, 3-12 E Earth processing machines, 28-2 Echo pulse, 28-8 Effect of aniline concentration, 6-8 Effective force, 4-11, 4-13 Effector, 2-2 Effort sensor, 17-7 Effort source, 17-6 Effort Variable, 17-3 Electrical motor, 22-2 Electrode implantation, 10-5 Electrohydraulic manipulator, 18-19 Electron diffraction pattern, 6-4 Electro-optical sensor, 29-7 Electropolymerization, 6-3 Embedded microprocessors, 28-5 Embedded system, 28-11 Embryo, 18-3 Emeraldine, 6-2 Encoder, 4-1, 4-3, 4-5, 4-28 Energy balance equation, 27-9 Energy of GIS, 24-3 Energy variables, 17-5 Enlarged portion, 24-8 Entropy generation rate, 21-1, 21-4, 21-11, 21-13 Erroneous gyro measurements, 23-8 Escape wheel, 3-2 Escapement mechanism, 3-1 Estimation error, 23-5 Estimation, 25-4 Euler-Bernoulli beam, 13-3 Evaluation, 24-8 Event set, 3-9 Evolution strategies, 21-7 Evolutionary algorithm (EA), 21-6, 21-9 Evolutionary computation, 21-1, 21-7, 21-14 Evolutionary optimization, 21-1, 21-3, 21-5, 21-9, 21-11, 21-13 Excessive noise, 24-6, 24-8 Excitation force, 29-13 Excitation subsystem, 29-10 Execution times, 24-6 Exit sign, 8-3 Expansion, 21-5 Experimental protocol, 4-17 Experimental techniques, 4-2, 4-31 Expert system, 23-4 Expert systems, 23-6 External disturbances, 23-1 Extreme, 3-14 F Fabric flaw, 24-2 Failure characterization, 23-1 0775_C030.fm Page Tuesday, September 4, 2007 10:12 AM I-4 Mechatronic Systems: Devices, Design, Control, Operation and Monitoring Failure in sensor, 23-2 Failure isolation, 23-4 Failure scenarios, 23-9 Failures, 23-1 False alarm, 23-4 Fault accommodation, 23-3 Fault categorization, 23-2 Fault characterization, 23-3 Fault classifier, 23-6 Fault decision logic, 23-5 Fault detection, 23-1, 23-3, 25-2, 25-4, 25-8, 29-1 Fault diagnosis, 23-3, 23-9, 25-2, 25-3 Fault identification signals, 23-5 Fault isolation, 23-5, 23-9 Fault resolution, 23-3 Fault sensitivity, 23-3 Fault signature, 23-5 Faults, 23-2, 25-1 Faulty behavior, 23-5 FDD algorithm, 23-5, 23-8 FDD methods, 23-3 FDD, 23-1 Feasible region, 16-6 Feature extraction, 23-4, 23-6, 26-2, 26-10 Feed drive, 12-3, 12-5 Feedback control, 3-1, 11-1 Feedrate adjustment, 12-10 FFT, 29-12 Fibril structure, 6-8 File Transfer Protocol (FTP), 7-3 Filter, 10-6, 14-9, 24-4 Filtering problem, 10-6 Fin, 21-1, 21-3, 21-5, 21-8, 21-10, 21-12 FIN, 7-2 Finite element method, 27-2 Fish cutting machine, 19-17 Fitness function, 18-5, 18-16 Flank wear, 26-1, 26-3, 26-5, 26-7, 26-9, 26-11, 26-13, 26-16 Flash welding, 6-3 Flat routing, 7-6 FLC, 22-5, 22-10 Flexibilities, 13-2 Flexible manipulators, 13-2 Flexible manufacturing systems, 15-2 Flow sensor, 17-7 Flow Source, 17-7 Flow stress, 27-2, 27-4, 27-6, 27-8, 27-10 Flow variable, 17-3 Fluid friction, 21-3 Formalization, 15-11 Forward error correction (FEC), 9-2 Fourier transform, 24-2 Fractional effective force (FEF), 4-11, 4-13 Free-body diagram, 22-3 Frequency analysis, 23-4 Frequency equation, 13-4 Frequency response, 22-4 Frequency, 3-2 Friction angle, 27-3 Friction coefficient, 3-6, 27-10 Friction force, 22-3 Friction, 12-4 Frictional stress, 27-9 FTIR spectrometry, 6-9 FTP, 7-9 Fully developed flow, 21-5 Furuta pendulum, 16-6, 16-8 Fuzzification, 2-8 Fuzzy aggregation of criteria, 19-6 Fuzzy control laws, 2-1 Fuzzy controller, 2-1, 2-7, 22-1, 22-5, 22-7 Fuzzy integrals, 19-6 Fuzzy logic tuning, 12-9 Fuzzy logic, 2-2, 22-1, 22-4 Fuzzy modeling, 16-1 Fuzzy rules, 2-8 Fuzzy sets, 22-5, 28-19 Fuzzy state equation model, 16-1, 16-5, 16-7 Fuzzy subset, 16-2, 16-3 Fuzzy tree model, 16-2 G Gabor filters, 24-2 Gain scheduling, 23-3 Gain, 25-4 Gantry positioning stage, 11-2 Gaussian noise, 24-6 Geared motors, 28-11 Generalized likelihood ratio test, 23-9 Generalized likelihood, 23-6 Generation of residuals, 23-5 Genetic algorithms (GA), 2-9, 21-7, 21-9, 21-12 Genetic algorithm with back propagation training, 16-2, 16-4 Genetic programming procedure, 18-7 Genetic programming tree, 18-16 Genetic programming, 18-2 Global loads, 4-8, 4-15, 4-18, 4-20, 4-23 Global positioning assisted routing, 7-7 Global Positioning System (GPS), 7-7 Global solution, 21-8, 21-11 GLR, 23-9 Golden image subtraction (GIS), 24-1, 24-3, 24-5, 24-8, 24-10 Golden image, 24-3, 24-8 Golden template, 24-3 Guard pin, 3-2 Gyrator modulus, 17-8 Gyrator, 17-8 Gyro biases, 23-8 H Haar wavelet transform, 24-3, 24-6, 24-9 Hairspring, 3-2 Hand contact loads, 4-11, 4-15, 4-16 Hand-contact angular position, 4-1, 4-3, 4-11, 4-13, 4-15 Handoff, 7-1, 7-7, 7-9, 7-10 Handover, 7-1, 7-7, 7-9, 7-10 Handrim force 4-11, 4-13 0775_C030.fm Page Tuesday, September 4, 2007 10:12 AM I-5 Index Handrim, 4-4 Hard disk drives (HDD), 1-11 Hardware-implemented PWM, 28-14 Harmonic oscillation, 29-7 Hash function, 24-1, 24-3 H-bridge, 28-11, 28-12 Head to head coupling, 6-10 Head to tail coupling, 6-10 Health monitoring, 23-1, 29-17 Heat dissipation, 21-2, 21-4, 21-9 Heat flux, 21-1 Heat sink optimization, 21-4, 21-13 Heat sink, 21-1, 21-4, 21-7, 21-9, 21-11, 21-13 Heat transfer, 21-2, 21-4, 21-13 Heuristic characteristics, 23-6 Heuristic model, 23-4 Heuristic symptom generation, 23-6 Hidden layer, 29-4 Hierarchical routing, 7-7 Hierarchical tuning, 12-10 High frequency switching, 8-2 High-dimension problems, 16-2 High-frequency elements, 24-5 High-pass filter, 24-4 Histogram equalization, 24-2 History of Mechatronics, 1-9 Holes, 24-2, 24-7, 24-8 Holonomic, 2-1 Home Agent (HA), 7-8 Homogeneous transformation matrices, 13-6 Hopkinson bar, 27-6 Horizon, 13-10 Horizontal loading set-up, 4-25 Hough transform, 26-4 HPWM, 28-15 HSI, 14-2 Hue, 14-3 Human observation, 23-6 Human operator, 23-1 Human prostate cancer cells (PC3), 5-6 Human umbilical vein endothelial cells (HUVEC), 5-6 Humanitarian demining, 28-5 Humanitarian landmine detection, 28-1 Human-like reasoning, 23-6 Human-machine interface, 10-2 Hydraulic cylinder, 18-20 Hydraulic diameter, 21-5 Hydrophobic iron oxide particles, 6-8 Hypertext Transfer Protocol (HTTP), 7-3 Hypothesis testing, 23-7, 23-9 Implanted electrodes, 10-2 Impulse equation, 3-9 Impulse pin, 3-3 Impulse, 3-2 Impulsive differential equation, 3-9 Incidence matrix, 15-5 Incipient changes, 23-2 Independent axis control, 11-2 Independent variables, 4-26 Indirect sensor, 26-1, 26-15 Indoor environment, 8-6 Inductance, 17-5 Industrial instrumentation and scientific (ISM) band, 9-10 Inertia weight, 21-8, 21-10 Inference mechanism, 23-6 Inference mechanism, 2-8 Information broadcasting, 8-1 Information domain, 17-3, 17-15 Infrared system, 8-5 Initial condition, 3-5 Innovation sequence, 23-7 Input constraints, 13-11 Insert junction functions, 18-11 Instabilities, 13-10 Instrumentation, 1-4, 4-3, 23-1 Instrumented wheel, 4-2, 4-4 Integral gain, 22-4 Integrated, 1-2 Intelligent control methods, 16-1 Intelligent mechatronic system (IMS), 1-4, 1-5, 16-1 Intelligent transport systems, 8-2 Intended limb motion, 10-2, 10-6 Intensity, 14-3 Interaxis offset, 11-2, 11-7 Intermission, 3-3 Internal components, 23-5 Internal model, 13-9, 13-10, 13-12 Internet Assigned Number Authority (IANA), 7-3 Internet Protocol (IP), 7-1 Interrupts, 28-7 Intracortical microelectrodes, 10-2 Inverse dynamics, 4-2, 4-28 Inverted pendulum, 22-1, 22-7 IPv6, 7-1, 7-9 Iron butcher, 19-17 Iron oxide template, 6-8 Isolation, 23-8 IVHS, 1-10 I Jacquard fabric, 24-1, 24-5, 24-10 Jerk, 12-5 Job start equation, 15-3, 15-9, 15-11 Jobs, 15-2, 15-8 Johnson-Cook (JC) strength model, 27-2, 27-6 Joint flexibilities, 13-2 Joystick, 2-4, 2-5 Jump criterion, 3-9 Jump set, 3-9 Identification, 23-2 IEEE 802.11, 7-9 Iguana, 28-9 Illumination, 8-2 Image processing, 26-3, 26-15 Image subtraction, 24-1 Imbalanced rotor, 29-2 J 0775_C030.fm Page Tuesday, September 4, 2007 10:12 AM I-6 Mechatronic Systems: Devices, Design, Control, Operation and Monitoring K Kalman filter, 10-6, 23-5, 23-9 Kinematic structure, 28-9 Kinematics, 2-1, 2-6, 22-2 Knots, 24-2, 24-7, 24-8 Kohonen neural network, 29-5 L Lagrange’s equations, 11-3, 13-9 Laminar flow, 21-5, 21-13 LAN, 7-9 Landmark, 2-9 Landmine detection, 28-2, 28-5, 28-21 Landmines, 28-21 Laplace domain, 22-4 Laplace transform, 22-4, 22-9 Least squares, 16-3 LED, 8-1 Legged robot, 28-1 Leucoemeraldine, 6-2 Levels of competences, 2-1, 2-3 Light intensity, 8-4 Likelihood functions, 23-10 Likelihood ratio test, 23-9 Limit checking, 23-4 Linear control, 22-8 Linear model, 25-2 Linear motors, 11-1 Linear quadratic regulator (LQR), 20-3, 20-5, 20-7, 20-9 Linear state-space model, 16-5 Linearity, 4-3, 4-23, 4-26 Linearization, 13-10 Linearized model, 23-7 Linguistic variable, 23-6 Link flexibilities, 13-2 LMI, 16-8 Load transducer, 4-1, 4-3 Load variations, 23-2 Loading points, 4-24, 4-28 Local linearization, 13-10 Local loads, 4-17, 4-19, 4-21, 4-23 Local loads, 4-8 Localization property, 24-6 Location, 2-6 Loose pick, 24-3, 24-8 Low-pass filter, 24-4 LQR control, 20-3, 20-5, 20-7, 20-9 Lyapunov equation, 25-6 Lyapunov function, 11-6 Lyapunov theory, 25-4 Lyapunov, 2-8 M MAC Layer, 7-9 Machining, 25-2 Magnetic nanoparticles, 6-3 Magnetic properties of Y-junction PANI, 6-1 Magnetic properties, 6-11 Magnetic torque, 1-3 Mamdani, 22-8 MANETs, 7-6, 7-8 Manual wheelchair propulsion, 4-2 Manufacturing, 25-1 Mars exploration, 1-11 Master microcontroller, 28-11 Mathematical model, 22-1, 22-4, 23-4, 23-55 MATLAB, 24-6, 24-10 Matrix-based controller, 15-1 Maximum Transmission Unit (MTU), 7-4 Maximum velocity, 21-8 Mean error, 4-3, 4-23 Mean, 28-19 Measured loads, 4-29, 4-31 Measurement instruments, 23-2 Measurement noise, 23-5 Mechanical efficiency, 4-2, 4-32 Mechanical watch, 3-1 Mechanistic models, 27-2 Mechatronic design model, 19-2 Mechatronic design quotient (MDQ), 1-9, 19-1, 19-5 Mechatronic design, 1-4, 1-7, 19-9 Mechatronic device, 3-1 Mechatronic systems, 15-1, 23-1, 25-1, 25-8, 26-1, 26-16 Mechatronics applications, 1-10 Mechatronics, 2-1, 2-2, 21-1, 21-6, 22-1, 22-12 Medium Access Control (MAC), 7-9 Membership function, 2-8, 2-9, 16-2, 22-5, 23-6 Metal detectors, 28-2, 28-5 Metric function, 26-8 Microcontroller, 2-5, 8-7, 28-1, 28-5, 28-11, 28-17, 28-21 Microelectrode arrays, 10-3, 10-5 Micro-electromechanical systems (MEMS), 1-6, 5-1 Microprocessor, 28-11 Micro-ultrasonic transducers (MUTs), 5-1 Milling, 26-1, 26-8, 26-11, 26-15 Minimum work rate principle, 27-9 Missing pick, 24-3, 24-8 Mission requirements, 23-7 Mixed programming, 29-8 Mobile Ad-Hoc Networks (MANETs), 7-1 Mobile agent, 9-1, 9-5, 9-11 Mobile robot, 2-2, 2-6, 2-9, 14-5 Mobile-IP, 7-8, 7-10 Mode shape function integrals, 13-13 Mode shape function, 13-4 Model based, 23-3 Model predictive control (MPC), 13-1 Model-free, 23-3 Modeling errors, 23-3, 23-5 Modeling, 1-6, 3-2, 17-8, 27-1 Modeling, backlash, 12-5 Modeling, feed drive, 12-3 Modeling, friction, 12-4 Modifiable bonds, 18-9 Modifiable joints, 18-9 Modified operation, 23-3 Modulated effort source, 17-7 Modulated flow Source, 17-7 Modulation, 8-2 0775_C030.fm Page Tuesday, September 4, 2007 10:12 AM I-7 Index Moment of inertia, 3-3, 13-13 Momentum variable, 17-5 Monitoring, 25-1, 25-5, 25-7 Monkeys, 10-1, 10-3, 10-7 Morphology, 6-5 MOSFET, 28-11 Motion control, 13-2 Motor control chip, 28-13 Motor controller, 2-3 Motor cortex, 10-2 Motor drive integrated circuits, 28-11 Motor driver chip, 28-13 Motor dynamics, 22-11 Motor prosthetics, 10-1 Motor shaft, 28-10 Motor, 2-2, 2-4, 2-8 Moving average, 24-9 MR-1 robot, 28-4 MR-2 robot, 28-4 Multidisciplinary, 1-2 Multi-input-output, 22-1 Multipath, 7-7 Multiple hypothesis tests, 23-6 Multiplicative faults, 23-6 Multiplicative process faults, 23-2 Multi-resolution property, 24-9 Multi-robot systems, 14-1 Multivariable control, 13-10 Multivariant, 22-1 MURALI robot, 28-6 Mutation, 18-4 N Nanofiber seeding, 6-3 Nanostructured fibers, 6-2 Nanotechnology, 11-2 Natural frequency, 13-4 Nature of failure, 23-1 Navigation in forests, 28-6 Navigation, 2-1, 2-10 Negative Acknowledgement (NACK), 7-2 Negative correlation, 19-7 Netting multiple, 24-2, 24-7, 24-8 Network Simulator (NS-II), 7-9 Neural decoding, 10-4, 10-6 Neural network approach, 23-6 Neural network system, 23-4 Neural networks, 24-2, 26-3, 26-15, 28-20, 29-2 Neural signals, 10-1, 10-3 New reno, 7-6 Newton’s second law, 22-3 Niching genetic algorithm, 19-14 Noise, 23-7 Noise-transfer dynamics, 23-5 Nominal trajectory, 23-7 Non-faulty condition, 23-5 Nonholonomic, 2-1, 2-6 Nonlinear behavior, 25-3 Nonlinear dynamics, 13-2 Nonlinear filtering, 23-7 Nonlinear mapping, 29-4 Nonlinear system, 25-4 Nonlinear time-invariant system, 16-1, 16-5 Non-minimum-phase, 13-2 Non-real-time behaviors, 19-2 Non-real-time parameters, 19-2 Nonylphenyl ether (NP5), 6-3 Normal behavior, 23-5 Numerical method, 3-9 Numerical models, 27-2 O Object oriented modeling, 17-8 Objective function, 21-6, 21-8, 21-13 Observed measurement, 23-7 Observed symptom, 23-6 Observer, 25-2, 25-4, 25-6, 25-8 Obstacle avoidance, 28-7 Obstacle, 2-1, 2-3, 2-9, 2-10 Oil warp, 24-3, 24-8 Oil weft, 24-3, 24-8 OMF, 22-8 On-board energy, 28-22 On-board sensors, 23-7 Online monitoring, 29-2 On-loom defect detection, 24-10 Open System Interconnection (OSI), 7-2 Operational amplifier, 17-17 Optimization techniques, 21-1, 21-6, 21-13 Optimization, 22-1 Optimum seat position, 4-2, 4-32 Ordinary differential equation, 3-9 Orientation, 2-6 Oscillation, 3-1 Out of alignment, 29-3 Overall heat sink resistance, 21-4 Over-corner toolpath modification, 12-10 P Packet loss, 7-5 Padding effect, 24-8 Padding, 7-3 Pallet fork, 3-2 PANI nanorods, 6-5 PANI nanostructures, 6-3 Parameter adjustment, 23-2 Parameter estimation, 23-4 Parameter identification techniques, 23-6 Parameter optimization fuzzy tree, 16-1, 16-3 Parity relations, 23-5 Particle filter, 10-6 Particle position vector, 21-8 Particle Swarm optimization (PSO), 21-1, 21-7, 21-9, 21-11, 21-13 Particle velocity vector, 21-8 Pass effect, 19-8 Path planning, 2-3 Path tracking, 2-1 Path, 2-1, 2-9 0775_C030.fm Page Tuesday, September 4, 2007 10:12 AM I-8 Mechatronic Systems: Devices, Design, Control, Operation and Monitoring Pattern fabric inspection, 24-2 Patterned fabric, 24-1 Patterned objects, 24-1 Patterned texture, 24-9 PD control, 20-3, 20-5 Pearson correlation coefficient (r), 4-23, 4-26, 4-28, 4-31 Pendulum clock, 3-1 Pendulum, 22-3 Performance of detection, 23-3 Permanent magnet linear motors, 11-1 Permanent magnet motors, 28-13 Pernigraniline, 6-2 Perturbation parameter, 25-3 Petri net transition equation, 15-4 Petri nets, 15-2, 15-8 Phase diagram, 3-16 Phase plane, 16-6 Photodetector, 8-2 Physical parameters, 23-6 Physical properties, 23-4 Physical redundancies, 23-3 PIC, 2-4 Pick and place, 15-6 Piconet, 9-2, 9-5, 9-7, 9-9, 9-11 PID controller, 11-6, 22-4 Piezoelectric accelerometer, 17-16 Piezoelectric material, 5-2 Piezoelectric micro-ultrasonic transducers (pMUT), 5-2 Pitch rate gyro, 23-9 Plain and twill fabrics, 24-2 Plant dynamics, 23-5 Polyaniline (PANI), 6-1 Polyethylene glycol, 6-3 POP2, 7-3 POP3, 7-3 Population size, 21-9 Population vector algorithm, 10-5 Port numbers, 7-3 Port, 17-3 Position, 2-6, 2-8 Positive correlation, 19-7 Positive definite matrix, 16-8, 16-10 Post Office Protocol (POP), 7-3 Potentiometer, 2-7 Power density, 21-2 Power domain, 17-3 Power variables, 17-4 Precision engineering, 11-2 Predicted loads, 4-29, 4-30 Prediction horizon, 13-11 Prediction, 23-7 Preferential dependence, 19-7 Preferred direction, 10-3 Preloads, 4-7, 4-8, 4-17 Premature removal, 23-4 Presence of fault, 23-5 Primary isolation, 23-8 Primitive composition, 15-1 Primitives, 15-1 Proactive routing, 7-6 Probability method, 18-5, 23-6 Process faults, 23-6 Process output equation, 15-4, 15-10 Propagation delay, 7-9 Proportional gain, 22-4 Proportional-Integral-Derivative (PID) controller, 22-4 Prostheses, 10-1 Prosthetic arm, 10-6 Prosthetic devices, 10-1 Prosthetic limb, 10-2 PSH, 7-2 Pulse width modulation (PWM), 2-5, 2-8, 28-13, 28-15 Q QoS, 7-2 Quadratic programming, 13-2 Quadruple redundancy, 23-3 Qualitative analysis, 4-2, 4-23, 4-26 Qualitative knowledge-based, 23-5 Qualitative model, 23-4 Qualitative model, 23-6 Quality of Service (QoS), 7-1 Quantifiable parameters, 23-3 Quantitative analysis, 4-2, 4-23, 4-27 Quantitative model, 23-5 R Ranking method, 18-5 Rate gyros, 23-7 Reaction speed, 23-3 Reactive behaviors, 28-6 Reactive routing, 7-7 Real-time applications, 7-5 Real-time behaviors, 19-2 Real-time cortical control, 10-3 Real-time parameters, 19-2 Receding horizon, 13-9 Receiver sensitivity, 7-9 Reconfiguration, 23-2 Recovery, 23-7 Recursive least squares, 13-2 Redline limits, 23-4 Redline system, 23-4 Redundancy relations, 23-5 Redundant hardware, 23-3 Region of interest, 26-4, 26-15 Regularity property, 24-9 Relative error, 4-27, 4-29, 4-31 Reliability, 23-7 Remote RF control, 28-11 Repeatability, 4-3, 4-23, 4-26 Repetitive unit, 24-1 Representation scheme, 18-3 Reproduction operations, 18-4 Request for Comments (RFC), 7-2 Residual sequence, 23-5 Residuals, 23-5 Resistance, 17-5 Resource release equation, 15-3, 15-9, 15-11 Resources, 15-1 0775_C030.fm Page Tuesday, September 4, 2007 10:12 AM I-9 Index Retransmission, 7-5, 7-7 Reynolds Number, 21-5 RFC 1700, 7-4 RFC 768, 7-4 RFC, 7-2, 7-93 RGB, 14-2 Robot localization, 28-22 Robot programming, 15-2 Robot, 2-2, 2-4, 2-6, 2-9 Robotic arm, 10-1, 10-3, 14-5 Robotic behaviors, 28-1 Robotic tasks, 15-1 Robotics, 2-1, 22-2 Robots, 15-1 Robustness, 23-3 Roller rig, 4-4, 4-28 Root locus, 22-4 Rotating machinery, 29-2 Rotation, 2-6 Rotor crack, 29-3 Rotor wear, 29-3 Route discovery, 7-8 Route Reply (RREP), 7-7 Route reply option, 7-8 Route Request (RREQ), 7-7 Route request option, 7-8 Routing, 7-6 RREP, 7-8 RREQ, 7-7 RST, 7-2 S Sample hue, 14-7 Samples, 29-8 Saturation magnetism, 6-12 Saturation, 14-3 Scan line, 26-4, 26-7 Scatternet formation algorithm (SFA), 9-1, 9-3, 9-5, 9-12 Scatternet, 9-1, 9-3, 9-5, 9-7, 9-11, 9-13 Scheduling, 9-1, 9-7, 9-11, 9-13 Seamless TCP, 7-1 Secure Shell (SSH), 7-3 Segments, 7-5 Selection, 18-4 Self-assembly method, 6-2 Self-organizing map, 26-1, 26-8, 29-5 Sensitivity level, 4-3 Sensor biases, 23-2 Sensor failure, 23-2 Sensor fusion, 26-1, 26-16 Sensor noise, 25-2, 25-5 Sensors, 2-1, 2-3, 2-10, 28-11 Sequence number, 7-2 Sequence number, 7-4 Sequential design, 19-3 Serial port, 2-8 Servo system, 17-15, 17-24 Servo valve, 18-21 Servomotor, 1-2 Shafting, 29-3 Sharp corners, 12-10 Shear angle, 27-3 Shear stress, 27-2 Shear zone, 27-3, 27-10 Shock, 3-3 Signal flow diagram, 4-7 Signal processing, 25-2 Signal-based, 23-3 Simple File Transfer Protocol (SFTP), 7-3 Simple Mail Transfer Protocol (SMTP), 7-3 Simple Network Management Protocol (SNMP), 7-3 Simulation environment, 7-8 Simulation parameters, 7-9 Simulation, 3-13 Single flexible-link manipulator, 13-12 Single sensor, 26-2, 26-16 Sinusoidal motion, 3-3 Situation recognition, 28-17 Slave microcontroller, 28-11 Sliding mode control, 12-9 Sliding window, 7-6 Slip ring, 4-1, 4-3 Smart mechatronic devices, 1-6 Smooth trajectory generation, 12-5, 12-10 Smoothing filter, 24-6 Smoothing, 24-6 Social learning rate, 21-8 SOM, 26-1, 26-3, 26-8, 26-10, 26-12, 26-14, 26-16 Sonar proximity sensor, 28-6, 28-21 Sonar sensor, 28-19, 28-22 Source port, 7-2 Spacecraft, 23-1 Spectrometry, 6-9 Spectrum analysis, 23-4 Spikes, 10-3 Spiking activity, 10-3, 10-6 Spring constant, 3-4 Stability, 25-4, 25-5 Stable, 16-7 Standard deviation bounds, 23-9 Standard deviation, 3-14, 23-9, 24-6, 24-9 STAR robot, 28-3 State estimation, 2-1, 23-4 State feedback control law, 16-7, 16-9 State space equations, 17-19 State space, 23-2 State vector, 3-9 State, 3-9 State-space model, 10-6 Static loading set-ups, 4-7 Static verification, 4-26 Statistical data, 14-6 Statistical decision making, 23-6 Statistical techniques, 23-55 Statistical testing, 23-5 Statistical threshold test, 23-8 Steep descent method, 21-6 Steering control, 2-1 Step response, 20-7 Stochastic optimization, 21-7, 21-13 Stock market, 24-5 0775_C030.fm Page 10 Tuesday, September 4, 2007 10:12 AM I-10 Mechatronic Systems: Devices, Design, Control, Operation and Monitoring Strain rate constant, 27-2, 27-4 Strain-hardening index, 27-4 Stribeck model, 18-13 Strong oxidant, 6-2 Structural characterization, 6-9 Structural deformation, 13-7 Structural flexibility, 13-2 Structure directing agents, 6-2 Study rate, 29-6 Sub-image, 24-5 Substitution, 19-7 Subtracted image, 24-3, 24-8 Successive image analysis, 26-11, 26-16 Superparamagnetic behavior, 6-12 Supervisory controller, 15-1, 15-4 Supplementary arc, 3-3 Supplementary set, 3-11 Survival, 18-4 Swiss lever escapement, Symptom generation, 23-6 SYN, 7-2, 7-4 Synchronization, 11-2 System calibration, 4-7 System design, 20-1 System equipment, 23-2 System identification, 18-16 System modeling, 2-1 System noise, 23-5 System parameters, 23-2 System performance, 23-2 System reconfiguration, 23-7 T Takagi-Sugeno fuzzy controller, 22-8 Task decomposition, 15-1, 15-6 Task planning, 15-1 TCM, 26-1, 26-11, 26-13, 26-15 TCP connectivity, 7-1 TCP Flavors, 7-2, 7-5, 7-10 TCP header, 7-2 TCP Reno, 7-5 TCP retransmission, 7-10 TCP sack, 7-6 TCP Tahoe, 7-5 TCP time-out, 7-7 TCP Vanilla, 7-5 TCP Vegas, 7-6 TCP, 7-10 TCP, 7-4, 7-7, 7-9 Telnet, 7-3 TEM pictures, 6-5 Template matching, 14-8 Template synthesis, 6-2 Terminal constraints, 13-12 Terrain complexity, 28-19 Test image, 24-3 Test statistic, 23-8 Test-bed, 7-8 Texture complexity, 24-2 Thermal conductivity, 21-3, 21-9, 27-4, 27-9 Thermal design, 21-4, 21-13 Thermal efficiency, 21-2, 21-4 Thermal resistance, 21-2, 21-4, 21-11 Thermogravimetry (TG), 6-11 Thick bar, 24-2, 24-7, 24-8 Thin bar, 24-2, 24-7, 24-8 Three-way handshaking, 7-4 Threshold, 23-5, 23-8 Thresholding, 24-6, 24-8 Time constant, 22-11 Time delays, 13-10 Time history, 3-13 Timekeeping accuracy, 3-2 Tissue reaction, 10-5 Tool condition monitoring, 26-1 Tool insert, 26-11 Tool-chip contact length, 27-5 Toolpath modification, 12-10 Toolpath, 12-7 Tooth plate, 29-8 Torsional vibrations, 29-2 Total applied force on handrim (Ftotal), 4-11, 4-13 Total effective force (TEF), 4-11, 4-13 Tournament method, 18-5 Tracking error, 11-7 Traditional image subtraction (TIS), 24-3 Traffic, 8-2 Training algorithm, 16-3 Training stage, 24-8 Trajectory generation, 12-5, 12-10 Trajectory, 2-2, 2-5 Transfer function, 22-4 Transformer modulus, 17-8 Transformer, 17-8 Transistors, 28-12 Transition function formalism, 15-11 Translation, 2-6 Transmission Control Protocol (TCP), 7-1 Transmission electron spectroscopy (TEM), 6-1 Transmission power, 7-9 Transportation, 14-2, 14-5 Triple module redundancy, 23-3 Trivial File Transfer Protocol (TFTP), 7-4 Tropical environment, 28-1 Tropical mine clearance, 28-5 T-S type, 22-9 t-statistic, 23-9 t-test, 23-8 Tuning function, 10-5 Tuning, 12-9 Tustin model, 11-4 Two-link flexible manipulator, 13-12 U Ultrasonic burst, 28-8 Ultrasonic sensor, 2-1, 2-5, 2-10 Ultrasound power density, 5-4 Unbounded errors, 23-8 Uncertain environment, 23-1 Uncertain nonlinear model, 25-3 0775_C030.fm Page 11 Tuesday, September 4, 2007 10:12 AM I-11 Index Uncertainty analysis, 4-1, 4-16 Uncertainty model, 25-2 Uncertainty of global loads, 4-18, 4-20, 4-23 Uncertainty of hand-contact angular position, 4-20, 4-23 Uncertainty of hand-contact loads, 4-22, 4-23 Uncertainty of local loads, 4-17, 4-19, 4-21, 4-23 Uncertainty of preloads, 4-17 Unconstrained MPC, 13-11 Undeformed chip thickness, 27-3 Under-corner toolpath modification, 12-10 Uneven lighting, 14-6 Unlocking, 3-3 Unmodeled dynamics, 22-4 Unpatterned fabric, 24-2 Unpredictable disturbance, 22-4 Unsupervised learning, 26-9 URG, 7-2 Urgent pointer, 7-3 USART, 2-5 UV-vis spectrometry, 6-10 V Variance, 4-26, 28-19 Variation, 3-3 Vector sensors, 23-8 Vegetated environment, 28-16, 28-21 Velocity, 2-7, 3-4 Verge escapement, 3-1 Vertical loading set-up, 4-24 Vertical loads, 4-24 Veto effect, 19-8 Virtual CNC, 12-1 Virtual earth, 17-17 Virtual manufacturing, 12-1 Viscoplastic, 27-8 Visible light, 8-1 Vision board, 2-5, 2-7, 2-9 Vision system, 2-2 Visual inspection, 24-2 Visually impaired people, 8-5 W Water soluble iron oxide nanoparticles, 6-3 Wavelet and scaling functions, 24-3 Wavelet techniques, 23-4 Wavelet transform, 24-2, 24-9 Wavelet-based defect detection, 24-1 Wavelet-preprocessed golden image subtraction (WGIS), 24-1, 24-3, 24-5, 24-7, 24-9 Wear estimation, 26-1, 26-8, 26-11, 26-13, 26-15 Weight vector, 29-5 Weighting matrices, 13-11 Wheel, 2-1, 2-6, 2-8 Wheelchair propulsion, 4-2 Wheelchair, 4-2 White pixels, 24-6, 24-8 Whiten areas, 24-8 Whiteness test, 23-6 Window size, 7-3 Winning neuron, 26-9 Wireless personal area networks (WPANs), 9-1, 9-12 Wireless sensor networks, 15-2 Worm gears, 28-11 Y Yield stress, 27-6 Y-junction PANI nanotubes, 6-1 Y-junction PANI rods, 6-1 Z Zero mean, 23-5, 23-9 0775_C030.fm Page 12 Tuesday, September 4, 2007 10:12 AM ... AM 1-6 Mechatronic Systems: Devices, Design, Control, Operation and Monitoring efficiency, domain-specific and special-purpose implementations are preferred over general-purpose mechatronic systems. .. electromechanical systems were not mechatronic systems because 0775_C001.fm Page 10 Tuesday, September 4, 2007 9:17 AM 1-10 Mechatronic Systems: Devices, Design, Control, Operation and Monitoring they... Tsai Mechatronic Systems: Devices, Design, Control, Operation and Monitoring Clarence W de Silva MEMS: Applications Mohamed Gad-el-Hak MEMS: Design and Fabrication Mohamed Gad-el-Hak The MEMS Handbook,