- Email: [email protected]
Volume contents and authour index for volume 4, 1994
Mechanics
~
Electronics
~
Control
An InternationalJournal Editors-in-Chief
R W Daniel
J R Hewit
Volume Contents and Author Index for Volume 4, 1994
( ~ Pergamon
MECHATRONICS Editors-in-Chief DR R. W . DANIEL, D e p a r t m e n t o f E n g i n e e r i n g S c i e n c e , U n i v e r s i t y o f O x f o r d , P a r k s R o a d , O x f o r d O X 1 3 P J , U . K . (Tel: 0 8 6 5 - 2 7 3 1 5 3 ; F a x : 0 8 6 5 - 2 7 3 1 5 3 ) . PROFESSOR J. R. H E w n ' , D e p a r t m e n t o f A p p l i e d P h y s i c s , E l e c t r o n i c s a n d M a n u f a c t u r i n g E n g i n e e r i n g , U n i v e r s i t y o f D u n d e e , D u n d e e D D 1 4 H N , U . K . (Tel: 0 3 8 2 - 3 0 7 4 9 7 ; F a x : 0 3 8 2 - 2 0 2 8 3 0 ) .
Editorial Advisory Board DR M. ACAR University of Technology Loughborough, U.K.
PROFESSORS. HACKWOOD University of California Riverside, CA, U.S.A.
PROFESSORD. S. NAIDU Idaho State University Pocatello, ID, U.S.A.
PROFESSORH. ADELI Ohio State University Columbus, OH, U.S.A.
DR G. HIRZINGER DFVLR Inst. for Flight Systems Dynamics, Wessling, Germany
DR M. E. PRESTON University of Technology Loughborough, U.K.
PROFESSORN. ASPRAGATHOS Machine Design Laboratory 26000 Patras, Greece
DR Y. HORI University of Tokyo 7-3-1 Hongo, Bunkyo, Tokyo 113, Japan
DR E. BERMAN Ben-Gurion University of the Negev 84105 Beer-Sheva, Israel
DR KOJI IKUTA Kyushu Institute of Technology Iizuka-shi 820, Japan
PROFESSORA. P. BESSONOV Academy of Sciences of Russia Moscow-Centre 101000, Russia
DR J. T. JONES Ngee Ann Polytechnic, 535 Clementi Road, Singapore 2159, Republic of Singapore
PROFESSORDR IR H. VAN BRUSSEL Katholieke Universiteit Leuven Leuven, Belgium
PROFESSORL. K. KEYS Louisiana State University Rm 3128 CEBA Bldg Baton Rouge, LA, U.S.A.
MR B. DAVIES Imperial College London, U.K.
DR T.-H. LEE National University of Singapore Singapore 0511, Republic of Singapore
PROFESSOR G. RZEVSKI Open University Milton Keynes, U.K.
PROFESSORP. TAYLOR University of Hull Hull, U.K. DR J. P. TREVELYAN University of Western Australia Nedlands, Australia PROFESSORC. UME Georgia Institute of Technology Atlanta, GA, U.S.A. PROFESSORC. VIBET IUT, D6partement GE Universit6 d'Evry-Val D'Essonne 22 All6e J. Rostand, 91025 Evry France
PROFESSORDR-INO P. DREWS RWTH Aachen, APS Aachen, Germany
DR J. MAKRAERNONE Ibrahim U. 9 H-1113 Budapest, Hungary
PROFESSORTAKASmEMURA Tohoku University Sendai, Japan
DR J. MARCHANT Institute of Engineering Research Silsoe, U.K.
PROFESSORM. VUKOBRATOVIC Institut Mihajlo Pupin Beograd 11000 Beograd, Serbia
DR R. FEARING University of California Berkeley, CA, U.S.A.
PROFESSORA. MORECKI Warsaw University of Technology Warsaw, Poland
DR D. YOERGER Woods Hole Oceanographic Inst. Woods Hole, MA, U.S.A.
Book Review Editor PROFESSORD. SUBBARAMNAn)U, Associate Editor (book reviews), Mechatronics, Measurement and Control Research Center, Idaho State University, Pocatello, ID 83209, U.S.A. (Tel: 208 236 2307; Fax: 208 236 4538; e.mail: [email protected]).
ProductionEditor: AlisonLusty, ElsevierScienceLtd, The Boulevard, LangfordLane, Kidlington,Oxford OX5 1GB,U.K. Publishing, Subscription and Advertising Offices: Elsevier ScienceLtd, The Boulevard, LangfordLane, Kidlington,Oxford OX5 lOB, U.K. or
Elsevier ScienceInc,, 660 White Plains Road, Tarrytown,NY 10591-5153, U.S.A. Annual Subscription Rates 1994 Annual Institutional SubscriptionRates 1994: North, Central and South America, U.S. $385.00, Rest of World £250.00. Professionalsubscription rates 1994, whichmustbe prepaidby personalchequeor creditcard: Nolth, Centraland SouthAmerica,U.S. $77,00, Rest of World £50.00. Sterling prices exclude VAT. Non-VAT registeredcustomersin the European Community will be charged the appropriate VAT in addition to the price listed. Prices includepostageand insuranceand are subjectto changewithoutnotice. Published eight issues/annum in February, March, April. June. August, September, October and December
Copyright © 1994 Elsevier ScienceLtd Secondclass postage rate paid at Newark, NJ. Postmastersend address correctionsto Mechatronics, c/o Elsevier ScienceInc., 660 White Plains Road, Tarrytown,NY 10591-5153, U.S.A. Whilst every effort is made by the publishersand editorialboard to see that no inaccurate or misleadingdata, opinion or statementappear in this journal, they wish to make it clear that the data and opinionsappearingin the articles and advertisementsherein are the sole responsibilityof the contributor or advertiser concerned.Accordingly,the publishers, the editorial board and editors and their respective employees,officers and agents acceptno responsibilityor liabilitywhatsoeverfor the consequencesof any such misleadingdata, opinion or statement.
Volume Contents Volume 4 S. R. KIM, D. HAN and
Number I
Design and implementation of an automatic adjustment system for integrated tube components
Z. BIEN
R. N. DANBURY
25
Servomechanisms for incremental motion--power dissipation considerations
D.-I. KIM, J. W. JEONand S. KIM
37
Software acceleration/deceleration methods for industrial robots and CNC machine tools
C. R. AI,LENand K. RATCLIFF
55
A CAD method for programming a flexible manufacturing cell for robot inspection of mechanical parts
Y. N. LEE, T. W. KIM and I. H. Sun
71
A look-up table-based self-organizing fuzzy plus linear controller
91
Call for Papers
93
Conference Announcement
95
Inauguration Announcement
I
Instructions for the submission of camera-ready copy
Volume 4
Number 2
SPECIAL ISSUE M E C H A T R O N I C S IN SWEDEN
J. WIKANDER
97
Editorial
K. J. flkSTROi,A. CARLSSON and J. KANNIAH
99
A flexible system for adaptive motion control
K. PAHLAVANand J.-O. EKLUNDH
113
Mechatronics of active vision
C. DUmNO
125
Real-time optical measurement of position
R. W. UUSlJhRVIand M. E. TORNOREN
139
Introducing distributed control in mobile machines based on hydraulic actuators
L.-B. FREDRIKSSON
159
Controller area networks and the protocol CAN for machine control systems
O. DAHL
173
Path constrained robot control---experimental evaluation III
K. HYYPPA
199
Design considerations in a laser navigation system for mobile robots
M. LIZELL
207
An actuator for semi-active damping system
M. HANSON
217
Teaching mechatronics at tertiary level
227
Call for Papers
229
Conference Announcement
I
Instructions for the submission of camera-ready copy
Volume 4
Number 3
J. R. HEWlT
231
Editorial
R. A. HIRSCHFELD,T. W. LIAO and L. K. KEYS
233
Mechatronics education developments in the United States: the perspective from Louisiana State University
R. L. VASQUEZand R. H. CANNON,JR
247
Experiments in cooperative manipulation from a flexiblymounted platform
J. N. REEDand R. D. TILLETT
265
Initial experiments in robotic mushroom harvesting
J. A. MARCHANTand R. D. TILLETT
281
Software and transputer system design for high speed grading of agricultural produce
F. FIGUEROAand A. MAHAJAN
295
Generic model of an autonomous sensor
C. A. PATERSON,K. J. BURNHAM, D. J. G. JAMESand R. A. WILLIAMS
317
A fixed parameter optimal controller design for an active suspension system--a sensitivity analysis
331
Object tracking at field rate using the Hough transform
339
Report on Meeting
341
Call for Papers
343
Conference Announcements
Technical Note L. MONTP,.E%H. Er,~ROLand D. C. HOIX~SON
I
Instructions for the submission of camera-ready copy
Volume 4
Number 4
E. SWAIN
349
Turbocharging the submarine diesel engine
C. L. HWANGand C. H. LAN
369
The position control of electrohydraulic servomechanism via a novel variable structure control IV
F. K. FADULand R. P. KRAHE
393
A DSP-based power integrated circuit controller/driver board for stepper motors
D. HR. STEFANOV
401
Model of a special orthotic manipulator
D. INDYKand S. A. VELASTIN
417
Survey of range vision systems
451
Announcing Book Reviews
453
Book Review
I
Instructions for the submission of camera-ready copy
Volume 4
Number 5
DONG-ILKIM and JIN-WoNLEE
455
Commutation of permanent magnet A.C. servo motors with incremental encoders via fuzzy reasoning
C. M. LIM
471
Implementation and experimental studies of fuzzy PID controllers
T. J. TAR_N,A. K. BEJCZY, NINO Xl and A. K. RAMADORAI
481
Distributed control architecture for a sensor-driven dual arm system
T. G. KINGand L. G. TAO
503
An incremental real-time pattern tracking algorithm for linescan camera application
J. SOMLOand J. PODURAJEV
517
Optimal cruising trajectory planning for robots
C. UME and M. TIMMERMAN
539
Integrated hardware and software designs in mechatronics laboratory courses
551
Announcing Book Reviews
I
Instructions for the submission of camera-ready copy
Volume 4
Number 6
B. Y. DUAN,Y. H. QL G. H. Xu and W. T. WANG
553
Study on optimization of mechanical and electronic synthesis for the antenna structural system
SHIUH-JERHUANGand CHUEN-CHUNGCHEN
565
A self-tuning adaptive feed-forward control for a retrofit milling machine
KoK-MENGLEE, JIANFAPEI and R. ROTH
581
Kinematic analysis of a three-degrees-of-freedom spherical wrist actuator
O. S. TOP,K~,Y
607
An expert system to control humidity and temperature of a laboratory scale greenhouse V
N. SEPEHRI,F. L. K. WAN, P. D. LAWRENCEand G. A. M. DUMONT
617
Hydraulic compliance identification using a parallel genetic algorithm
WOOSOONYIM
635
Cartesian trajectory control of a flexible manipulator using sliding mode
I
Instructions for the submission of camera-ready copy
Volume 4
Number 7
N. D. TILLETT,N. VAUGHAN and A. BOWYER
653
An improved flexible pneumatic joint for horticultural robots
O. H. CHAI,Y. S. WONGand A. N. Poo
673
A DDA parabolic interpolator for computer numerical control of machine tools
T. H. LEE, Q. G. WANGand W. K. TAN
693
A framework for robust neural network-based control of nonlinear servomechanisms
C. D. WRIGHTand K. CASE
713
Emulation of modular manufacturing machines using CAD modelling
P. M. HAGELINand J. R. HEWlT
737
Artificial neural networks for locating eyes in facial images
J. TARAMAA,R. LINTULAMPIand V. SEPPANEN
753
Automated assembly of machine control software
771
Conference Announcement
I
Instructions for the submission of camera-ready copy
Volume 4
Number 8
N. J. C. STRACHAN
773
Sea trials of a computer vision based fish species sorting and size grading machine
J. Y. HUNG
785
Torque ripple minimization for variable reluctance motors
K. C. KOH and H. S. CHO
799
A path tracking control system for autonomous mobile robots: an experimental investigation
A. PREUMONT
821
An investigation of the kinematic control of a six-legged walking robot
R. IKEURA,M. ICdMURA, H. INOOKAand T. KAMIJIMA
831
Motion planning for computer controlled automata VI
C. ZIELI~SKI
843
Reaction based robot control
P. VgrI~, T. HEIKKILA, J. R~NrI~oand J. OKKONEN
861
Machine of the future: an intelligent paper roll manipulator
879
Calls for Papers
I XI
Volume Contents and Author Index for Volume 4, 1994 Instructions for the submission of camera-ready copy
VII
Author Index
Allen, C. R. 55 Astr6m, K. J. 99
Ikeura, R. 831 Indyk, D. 417 Inooka, H. 831
Bejczy, A. K. 481 Bien Zeungnam 1 Bowyer, A. 653 Burnham, K. J. 317
James, D. J. G. 317 Jeon Jae Wook 37
Cannon, R. H., Jr. 247 Carlsson, A. 99 Case, K. 713 Chai, O. H. 673 Chen Chuen-Chung 565 Cho, H. S. 799 Dahl, O. 173 Danbury, R. N. 25 Duan, B. Y. 553 Dumont, G. A. M. 617 During, C. 125
Kamijima, T. 831 Kanniah, J. 99 Keys, L. K. 233 Kim Dong-I1 37, 455 Kim Sung Rak 1 Kim Sungkwun 37 Kim Tae Won 71 Kimura, M. 831 King, T. G. 503 Koh, K. C. 799 Krahe, R. P. 393 Lan, C. H. 369 Lawrence, P. D. 617 Lee Jin-Won 455 Lee Kok-Meng 581 Lee, T. H. 693 Lee Yong No 71 Liao, T. W. 233 Lim, C. M. 471 Lintulampi, R. 753 Lizell, M. 207
Ekerol, H. 331 Eklundh, J.-O. 113 Fadul, F. K. 393 Figueroa, F. 295 Fredriksson, L.-B. 159 Hagelin, P. M. 737 Han Dongil 1 Hanson, M. 217 Heikkila, T. 861 Hewit, J. R. 231,737 Hirschfeld, R. A. 233 Hodgson, D. C. 331 Huang Shiuh-Jer 565 Hung, J. Y. 785 Hwang, C. L. 369 Hyypp~i, K. 199
Mahajan, A. 295 Marchant, J. A. 281 Montret, L. 331 Okkonen, J. 861 Pahlavan, K. 113 Paterson, C. A. 317 Pei Jianfa 581 IX
Podurajev, J. 517 Poo, A . N . 673 Preumont, A. 821
Timmerman, M. 539 T6rngren, M. E. 139 T0rkay, O. S. 607
Qi, Y. H. 553
Ume, C. 539 Uusij/irvi, R. W. 139
Ramadorai, A. K. 481 Ratcliff, K. 55 Reed, J. N. 265 R6ning, J. 861 Roth, R. 581
V/ih/i, P. 861 Vasquez, R. L. 247 Vaughan, N. 653 Velastin, S. A. 417
Sepehri, N. 617 Sepp/inen, V. 753 Somlo, J. 517 Stefanov, D. Hr. 401 Strachan, N. J. C. 773 Suh I1 Hong 71 Swain, E. 349
Wan, F. L. K. 617 Wang, Q. G. 693 Wang, W. T. 553 Wikander, J. 97 Williams, R. A. 317 Wong, Y.S. 673 Wright, C. D. 713
Tan, W. K. 693 Tao, L. G. 503 Taramaa, J. 753 Tam, T. J. 481 Tillett, N. D. 653 Tillett, R. D. 265, 281
Xi Ning 481 Xu, G. H. 553 Yim Woosoon 635 Zielifiski, C. 843
Printed in Great Britain by BPC-AUP Aberdeen Ltd.
933
~
Electronics
~
Control
An InternationalJournal Editors-in-Chief
R W Daniel
J R Hewit
Volume Contents and Author Index for Volume 4, 1994
( ~ Pergamon
MECHATRONICS Editors-in-Chief DR R. W . DANIEL, D e p a r t m e n t o f E n g i n e e r i n g S c i e n c e , U n i v e r s i t y o f O x f o r d , P a r k s R o a d , O x f o r d O X 1 3 P J , U . K . (Tel: 0 8 6 5 - 2 7 3 1 5 3 ; F a x : 0 8 6 5 - 2 7 3 1 5 3 ) . PROFESSOR J. R. H E w n ' , D e p a r t m e n t o f A p p l i e d P h y s i c s , E l e c t r o n i c s a n d M a n u f a c t u r i n g E n g i n e e r i n g , U n i v e r s i t y o f D u n d e e , D u n d e e D D 1 4 H N , U . K . (Tel: 0 3 8 2 - 3 0 7 4 9 7 ; F a x : 0 3 8 2 - 2 0 2 8 3 0 ) .
Editorial Advisory Board DR M. ACAR University of Technology Loughborough, U.K.
PROFESSORS. HACKWOOD University of California Riverside, CA, U.S.A.
PROFESSORD. S. NAIDU Idaho State University Pocatello, ID, U.S.A.
PROFESSORH. ADELI Ohio State University Columbus, OH, U.S.A.
DR G. HIRZINGER DFVLR Inst. for Flight Systems Dynamics, Wessling, Germany
DR M. E. PRESTON University of Technology Loughborough, U.K.
PROFESSORN. ASPRAGATHOS Machine Design Laboratory 26000 Patras, Greece
DR Y. HORI University of Tokyo 7-3-1 Hongo, Bunkyo, Tokyo 113, Japan
DR E. BERMAN Ben-Gurion University of the Negev 84105 Beer-Sheva, Israel
DR KOJI IKUTA Kyushu Institute of Technology Iizuka-shi 820, Japan
PROFESSORA. P. BESSONOV Academy of Sciences of Russia Moscow-Centre 101000, Russia
DR J. T. JONES Ngee Ann Polytechnic, 535 Clementi Road, Singapore 2159, Republic of Singapore
PROFESSORDR IR H. VAN BRUSSEL Katholieke Universiteit Leuven Leuven, Belgium
PROFESSORL. K. KEYS Louisiana State University Rm 3128 CEBA Bldg Baton Rouge, LA, U.S.A.
MR B. DAVIES Imperial College London, U.K.
DR T.-H. LEE National University of Singapore Singapore 0511, Republic of Singapore
PROFESSOR G. RZEVSKI Open University Milton Keynes, U.K.
PROFESSORP. TAYLOR University of Hull Hull, U.K. DR J. P. TREVELYAN University of Western Australia Nedlands, Australia PROFESSORC. UME Georgia Institute of Technology Atlanta, GA, U.S.A. PROFESSORC. VIBET IUT, D6partement GE Universit6 d'Evry-Val D'Essonne 22 All6e J. Rostand, 91025 Evry France
PROFESSORDR-INO P. DREWS RWTH Aachen, APS Aachen, Germany
DR J. MAKRAERNONE Ibrahim U. 9 H-1113 Budapest, Hungary
PROFESSORTAKASmEMURA Tohoku University Sendai, Japan
DR J. MARCHANT Institute of Engineering Research Silsoe, U.K.
PROFESSORM. VUKOBRATOVIC Institut Mihajlo Pupin Beograd 11000 Beograd, Serbia
DR R. FEARING University of California Berkeley, CA, U.S.A.
PROFESSORA. MORECKI Warsaw University of Technology Warsaw, Poland
DR D. YOERGER Woods Hole Oceanographic Inst. Woods Hole, MA, U.S.A.
Book Review Editor PROFESSORD. SUBBARAMNAn)U, Associate Editor (book reviews), Mechatronics, Measurement and Control Research Center, Idaho State University, Pocatello, ID 83209, U.S.A. (Tel: 208 236 2307; Fax: 208 236 4538; e.mail: [email protected]).
ProductionEditor: AlisonLusty, ElsevierScienceLtd, The Boulevard, LangfordLane, Kidlington,Oxford OX5 1GB,U.K. Publishing, Subscription and Advertising Offices: Elsevier ScienceLtd, The Boulevard, LangfordLane, Kidlington,Oxford OX5 lOB, U.K. or
Elsevier ScienceInc,, 660 White Plains Road, Tarrytown,NY 10591-5153, U.S.A. Annual Subscription Rates 1994 Annual Institutional SubscriptionRates 1994: North, Central and South America, U.S. $385.00, Rest of World £250.00. Professionalsubscription rates 1994, whichmustbe prepaidby personalchequeor creditcard: Nolth, Centraland SouthAmerica,U.S. $77,00, Rest of World £50.00. Sterling prices exclude VAT. Non-VAT registeredcustomersin the European Community will be charged the appropriate VAT in addition to the price listed. Prices includepostageand insuranceand are subjectto changewithoutnotice. Published eight issues/annum in February, March, April. June. August, September, October and December
Copyright © 1994 Elsevier ScienceLtd Secondclass postage rate paid at Newark, NJ. Postmastersend address correctionsto Mechatronics, c/o Elsevier ScienceInc., 660 White Plains Road, Tarrytown,NY 10591-5153, U.S.A. Whilst every effort is made by the publishersand editorialboard to see that no inaccurate or misleadingdata, opinion or statementappear in this journal, they wish to make it clear that the data and opinionsappearingin the articles and advertisementsherein are the sole responsibilityof the contributor or advertiser concerned.Accordingly,the publishers, the editorial board and editors and their respective employees,officers and agents acceptno responsibilityor liabilitywhatsoeverfor the consequencesof any such misleadingdata, opinion or statement.
Volume Contents Volume 4 S. R. KIM, D. HAN and
Number I
Design and implementation of an automatic adjustment system for integrated tube components
Z. BIEN
R. N. DANBURY
25
Servomechanisms for incremental motion--power dissipation considerations
D.-I. KIM, J. W. JEONand S. KIM
37
Software acceleration/deceleration methods for industrial robots and CNC machine tools
C. R. AI,LENand K. RATCLIFF
55
A CAD method for programming a flexible manufacturing cell for robot inspection of mechanical parts
Y. N. LEE, T. W. KIM and I. H. Sun
71
A look-up table-based self-organizing fuzzy plus linear controller
91
Call for Papers
93
Conference Announcement
95
Inauguration Announcement
I
Instructions for the submission of camera-ready copy
Volume 4
Number 2
SPECIAL ISSUE M E C H A T R O N I C S IN SWEDEN
J. WIKANDER
97
Editorial
K. J. flkSTROi,A. CARLSSON and J. KANNIAH
99
A flexible system for adaptive motion control
K. PAHLAVANand J.-O. EKLUNDH
113
Mechatronics of active vision
C. DUmNO
125
Real-time optical measurement of position
R. W. UUSlJhRVIand M. E. TORNOREN
139
Introducing distributed control in mobile machines based on hydraulic actuators
L.-B. FREDRIKSSON
159
Controller area networks and the protocol CAN for machine control systems
O. DAHL
173
Path constrained robot control---experimental evaluation III
K. HYYPPA
199
Design considerations in a laser navigation system for mobile robots
M. LIZELL
207
An actuator for semi-active damping system
M. HANSON
217
Teaching mechatronics at tertiary level
227
Call for Papers
229
Conference Announcement
I
Instructions for the submission of camera-ready copy
Volume 4
Number 3
J. R. HEWlT
231
Editorial
R. A. HIRSCHFELD,T. W. LIAO and L. K. KEYS
233
Mechatronics education developments in the United States: the perspective from Louisiana State University
R. L. VASQUEZand R. H. CANNON,JR
247
Experiments in cooperative manipulation from a flexiblymounted platform
J. N. REEDand R. D. TILLETT
265
Initial experiments in robotic mushroom harvesting
J. A. MARCHANTand R. D. TILLETT
281
Software and transputer system design for high speed grading of agricultural produce
F. FIGUEROAand A. MAHAJAN
295
Generic model of an autonomous sensor
C. A. PATERSON,K. J. BURNHAM, D. J. G. JAMESand R. A. WILLIAMS
317
A fixed parameter optimal controller design for an active suspension system--a sensitivity analysis
331
Object tracking at field rate using the Hough transform
339
Report on Meeting
341
Call for Papers
343
Conference Announcements
Technical Note L. MONTP,.E%H. Er,~ROLand D. C. HOIX~SON
I
Instructions for the submission of camera-ready copy
Volume 4
Number 4
E. SWAIN
349
Turbocharging the submarine diesel engine
C. L. HWANGand C. H. LAN
369
The position control of electrohydraulic servomechanism via a novel variable structure control IV
F. K. FADULand R. P. KRAHE
393
A DSP-based power integrated circuit controller/driver board for stepper motors
D. HR. STEFANOV
401
Model of a special orthotic manipulator
D. INDYKand S. A. VELASTIN
417
Survey of range vision systems
451
Announcing Book Reviews
453
Book Review
I
Instructions for the submission of camera-ready copy
Volume 4
Number 5
DONG-ILKIM and JIN-WoNLEE
455
Commutation of permanent magnet A.C. servo motors with incremental encoders via fuzzy reasoning
C. M. LIM
471
Implementation and experimental studies of fuzzy PID controllers
T. J. TAR_N,A. K. BEJCZY, NINO Xl and A. K. RAMADORAI
481
Distributed control architecture for a sensor-driven dual arm system
T. G. KINGand L. G. TAO
503
An incremental real-time pattern tracking algorithm for linescan camera application
J. SOMLOand J. PODURAJEV
517
Optimal cruising trajectory planning for robots
C. UME and M. TIMMERMAN
539
Integrated hardware and software designs in mechatronics laboratory courses
551
Announcing Book Reviews
I
Instructions for the submission of camera-ready copy
Volume 4
Number 6
B. Y. DUAN,Y. H. QL G. H. Xu and W. T. WANG
553
Study on optimization of mechanical and electronic synthesis for the antenna structural system
SHIUH-JERHUANGand CHUEN-CHUNGCHEN
565
A self-tuning adaptive feed-forward control for a retrofit milling machine
KoK-MENGLEE, JIANFAPEI and R. ROTH
581
Kinematic analysis of a three-degrees-of-freedom spherical wrist actuator
O. S. TOP,K~,Y
607
An expert system to control humidity and temperature of a laboratory scale greenhouse V
N. SEPEHRI,F. L. K. WAN, P. D. LAWRENCEand G. A. M. DUMONT
617
Hydraulic compliance identification using a parallel genetic algorithm
WOOSOONYIM
635
Cartesian trajectory control of a flexible manipulator using sliding mode
I
Instructions for the submission of camera-ready copy
Volume 4
Number 7
N. D. TILLETT,N. VAUGHAN and A. BOWYER
653
An improved flexible pneumatic joint for horticultural robots
O. H. CHAI,Y. S. WONGand A. N. Poo
673
A DDA parabolic interpolator for computer numerical control of machine tools
T. H. LEE, Q. G. WANGand W. K. TAN
693
A framework for robust neural network-based control of nonlinear servomechanisms
C. D. WRIGHTand K. CASE
713
Emulation of modular manufacturing machines using CAD modelling
P. M. HAGELINand J. R. HEWlT
737
Artificial neural networks for locating eyes in facial images
J. TARAMAA,R. LINTULAMPIand V. SEPPANEN
753
Automated assembly of machine control software
771
Conference Announcement
I
Instructions for the submission of camera-ready copy
Volume 4
Number 8
N. J. C. STRACHAN
773
Sea trials of a computer vision based fish species sorting and size grading machine
J. Y. HUNG
785
Torque ripple minimization for variable reluctance motors
K. C. KOH and H. S. CHO
799
A path tracking control system for autonomous mobile robots: an experimental investigation
A. PREUMONT
821
An investigation of the kinematic control of a six-legged walking robot
R. IKEURA,M. ICdMURA, H. INOOKAand T. KAMIJIMA
831
Motion planning for computer controlled automata VI
C. ZIELI~SKI
843
Reaction based robot control
P. VgrI~, T. HEIKKILA, J. R~NrI~oand J. OKKONEN
861
Machine of the future: an intelligent paper roll manipulator
879
Calls for Papers
I XI
Volume Contents and Author Index for Volume 4, 1994 Instructions for the submission of camera-ready copy
VII
Author Index
Allen, C. R. 55 Astr6m, K. J. 99
Ikeura, R. 831 Indyk, D. 417 Inooka, H. 831
Bejczy, A. K. 481 Bien Zeungnam 1 Bowyer, A. 653 Burnham, K. J. 317
James, D. J. G. 317 Jeon Jae Wook 37
Cannon, R. H., Jr. 247 Carlsson, A. 99 Case, K. 713 Chai, O. H. 673 Chen Chuen-Chung 565 Cho, H. S. 799 Dahl, O. 173 Danbury, R. N. 25 Duan, B. Y. 553 Dumont, G. A. M. 617 During, C. 125
Kamijima, T. 831 Kanniah, J. 99 Keys, L. K. 233 Kim Dong-I1 37, 455 Kim Sung Rak 1 Kim Sungkwun 37 Kim Tae Won 71 Kimura, M. 831 King, T. G. 503 Koh, K. C. 799 Krahe, R. P. 393 Lan, C. H. 369 Lawrence, P. D. 617 Lee Jin-Won 455 Lee Kok-Meng 581 Lee, T. H. 693 Lee Yong No 71 Liao, T. W. 233 Lim, C. M. 471 Lintulampi, R. 753 Lizell, M. 207
Ekerol, H. 331 Eklundh, J.-O. 113 Fadul, F. K. 393 Figueroa, F. 295 Fredriksson, L.-B. 159 Hagelin, P. M. 737 Han Dongil 1 Hanson, M. 217 Heikkila, T. 861 Hewit, J. R. 231,737 Hirschfeld, R. A. 233 Hodgson, D. C. 331 Huang Shiuh-Jer 565 Hung, J. Y. 785 Hwang, C. L. 369 Hyypp~i, K. 199
Mahajan, A. 295 Marchant, J. A. 281 Montret, L. 331 Okkonen, J. 861 Pahlavan, K. 113 Paterson, C. A. 317 Pei Jianfa 581 IX
Podurajev, J. 517 Poo, A . N . 673 Preumont, A. 821
Timmerman, M. 539 T6rngren, M. E. 139 T0rkay, O. S. 607
Qi, Y. H. 553
Ume, C. 539 Uusij/irvi, R. W. 139
Ramadorai, A. K. 481 Ratcliff, K. 55 Reed, J. N. 265 R6ning, J. 861 Roth, R. 581
V/ih/i, P. 861 Vasquez, R. L. 247 Vaughan, N. 653 Velastin, S. A. 417
Sepehri, N. 617 Sepp/inen, V. 753 Somlo, J. 517 Stefanov, D. Hr. 401 Strachan, N. J. C. 773 Suh I1 Hong 71 Swain, E. 349
Wan, F. L. K. 617 Wang, Q. G. 693 Wang, W. T. 553 Wikander, J. 97 Williams, R. A. 317 Wong, Y.S. 673 Wright, C. D. 713
Tan, W. K. 693 Tao, L. G. 503 Taramaa, J. 753 Tam, T. J. 481 Tillett, N. D. 653 Tillett, R. D. 265, 281
Xi Ning 481 Xu, G. H. 553 Yim Woosoon 635 Zielifiski, C. 843
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