Mechatronics and Embedded System 2014

With the support for sustainable development of autonomous and intelligent systems, mechatronics, embedded systems, and robotics are becoming one hot research area. In this special issue, we select 35 papers among a large number of submissions. The selected papers cover several key technology areas in mechatronics and embedded systems and can be divided into the following eight categories.

Seven papers are related to autonomous and intelligent embedded systems. In the paper titled “Discrete Planning Unit Look-Ahead Velocity Control Strategy and Parallelization Research Based on GPU,” the GPU technology is introduced into CNC algorithms. In the paper titled “One Nonlinear PID Control to Improve the Control Performance of a Manipulator Actuated by a Pneumatic Muscle Actuator,” the controller is applied to the manipulator and experiments are conducted. In the paper titled “FPGA Implementation of Self-Organized Spiking Neural Network Controller for Mobile Robots,” a novel mechanism for controlling mobile robots is presented based on self-organized spiking neural network (SOSNN) and a method for FPGA implementation of this SOSNN is given. In the paper titled “Inner-Learning Mechanism Based Control Scheme for Manipulator with Multitasking and Changing Load,” the inner-learning mechanism makes the subcontrollers learn from the working controller when load changes so that the switching action causes smaller tracking error compared with the traditional switch controller. In the paper titled “Research on Architecture of the Prosthesis Shaping Equipment Control System,” the new software/hardware architecture of a five-axis high performance NC system is proposed. In the paper titled “Design and Development of the Humanoid Robot BHR-5,” the mechanical and control system design of the latest humanoid robot platform, BHR-5, is presented. In the paper titled “Alignment Condition-Based Robust Adaptive Iterative Learning Control of Uncertain Robot System,” an adaptive iterative learning control strategy is proposed to integrate with saturation-based robust control for uncertain robot system in presence of modeling uncertainties, unknown parameter, and external disturbance under alignment conditions.

Six papers discuss kinematical analysis of simulation and optimization in robotics. In the paper titled “Kinematics and Workspace of a 4-DOF Hybrid Palletizing Robot,” the kinematical analysis of a 4-DOF hybrid palletizing robot is presented. In the paper titled “Formalization of Matrix Theory in HOL4,” the higher-order logic (HOL) formalization of the vector space and matrix theory in the HOL4 theorem proving system is presented. In the paper titled “Analysis and Implementation of Multiple Bionic Motion Patterns for Caterpillar Robot Driven by Sinusoidal Oscillator,” the peristaltic locomotion and various additional rolling patterns are achieved by employing sinusoidal oscillator with fixed phase difference as the joint controller. In the paper titled “Training Revising Based Traversability Analysis of Complex Terrains for Mobile Robot,” a model to analyze the traversability of complex terrains based on rough sets and training revising is proposed. In the paper titled “A Component-Based Modeling and Validation Method for PLC Systems,” a rigorous method for validating the global system model by simulation is presented. In the paper titled “Static Modeling for Commercial Braided Pneumatic Muscle Actuators,” an enhanced model is proposed to describe the static property of commercial braided pneumatic muscle actuators by including several important influencing factors.

Four papers focus on energy consumption management and optimization in embedded systems and robotics. In the paper titled “Power Management of Hybrid Power Systems with Li-Fe Batteries and Supercapacitors for Mobile Robots,” an energy management strategy of a Li-Fe battery and supercapacitor hybrid power system is proposed to provide both high power density and energy density for mobile robots with fluctuating workloads. In the paper titled “Research on Intelligent Optimization Control Method for Oil Pumping,” the intermittent start stop operation mode is given for oil pumping in order to solve the problem of energy consumption of oil pumping, and the genetic wavelet neural network is proposed to realize intelligent control. In the paper titled “Multivariate Storage Degradation Modeling Based on Copula Function,” a generalized statistical model is introduced to qualify the reliability of a dormant system which has multiple dependent performance characteristics (PCs). In the paper titled “A Hybrid Node Scheduling Approach Based on Energy Efficient Chain Routing for WSN,” an energy efficient chain (EEC) data routing approach is first presented. The coverage and connectivity of WSNs are discussed based on EEC. A hybrid node scheduling approach is then proposed.

Five papers focus on the color and image of pattern recognition in robotics. In the paper titled “Study on Detection and Localization Algorithm of Traffic Signs from Natural Scenes,” a traffic sign detection method is proposed based on color segmentation and shape analysis. In the paper titled “Rapid Detection Method of Moldy Maize Kernels Based on Color Feature,” a method based on machine vision is proposed to find the moldy maize kernels quickly. In the paper titled “Noise Removal in Color Images Based on Image Gradient Information,” a novel noise removal algorithm in color images is given. In the paper titled “A Novel Approach of Low-Light Image Denoising for Face Recognition,” the noise frequency distribution of low-light image is discussed in-depth based on massive experiments on low-light face images. In the paper titled “A Spherical Model Based Keypoint Descriptor and Matching Algorithm for Omnidirectional Images,” a new voting algorithm is proposed to remove the effect of image distortion based on the spherical model and the D-Nets algorithm.

Five papers discuss vision-based obstacle avoidance, detection, navigation, and tracking in robotics. In the paper titled “Smooth and Accurate Trajectory Planning for Industrial Robots,” a smooth and accurate trajectory planning for industrial robots using geodesics is proposed. In the paper titled “Design and Implementation of an AHRS Based on MEMS Sensors and Complementary Filtering,” the design and implementation of an attitude and heading reference system (AHRS) are given based on low-cost MEMS sensors and complementary filtering (CF). In the paper titled “Virtual Reality Aided Positioning of Mobile C-Arms for Image-Guided Surgery,” a positioning method based on virtual reality (VR) for the mobile C-arm is proposed by the alignment of 3D surface model of region of interest and preoperative anatomy. In the paper titled “Robust and Fast Initialization for Intensity-Based 2D/3D Registration,” the problem of small capture range is addressed by a robust and fast initialization method using a two-level scheme including automatic tracking based initialization and multiresolution estimation based on central-slice theorem and phase correlation. In the paper titled “Nondestructive Online Detection of Welding Defects in Track Crane Boom Using Acoustic Emission Technique,” the location characteristic of acoustic emission event and some typical acoustic emission parameters can be used as the valuable indicators of welding crack defects in structural component of track crane.

Two papers discuss the bionic principle. In the paper titled “A Stiffness-Adjusting Method to Improve Thrust Efficiency of a Two-Joint Robotic Fish,” the two degree-of-freedom propeller that mimics fish caudal like locomotion is proposed. In the paper titled “A Method for Mechanism Analysis of Frog Swimming Based on Motion Observation Experiments,” an aquatic frog Xenopus laevis is chosen for analysis of swimming motions which is recorded by a high speed camera, and kinematic data is processed in a swimming data extraction platform.

Four papers discuss the procedure and algorithms in robotics. In the paper titled “A Two-Level Task Scheduler on Multiple DSP System for OpenCL,” the problem that multiple DSP systems do not support OpenCL programming is solved. In the paper titled “QoS-Aware Multiobjective Optimization Algorithm for Web Services Selection with Deadline and Budget Constraints,” a novel algorithm called MOASS (Multiobjective Optimization Algorithm for Web Service Selection) is proposed through analyzing the genetic operators. In the paper titled “A Formal Specification Framework for Designing and Verifying Reliable and Dependable Software for CNC Systems,” a new modeling method called TTM/ATRTTL (timed transition models/all-time real-time temporal logics) is proposed for specifying CNC systems. In the paper titled “A New Design of Clock Synchronization Algorithm,” a high-precision network clock synchronization algorithm is presented, which imposes a PI controller in order to compensate the clock drift of each network node.

Two papers are related to the kinematics accuracy in robotics. In the paper titled “Test of Robot Distance Error and Compensation of Kinematic Full Parameters,” the new method is given which effectively reduces the distance error and greatly improves the positioning accuracy of robots. In the paper titled “Research on The DDA Precision Interpolation Algorithm for Continuity of Speed and Acceleration,” a new precision interpolation algorithm is presented based on the analysis of root cause in speed and acceleration.

Yong TaoJindong TanZili ShaoHongxing Wei