MECHATRONICS Mechanics -~ Electronics -~ Control An International Journal Editors-in-Chief R W Daniel JR Hewit Volume Contents and Author Index for Volume 2, 1992 ©) Pergamon Press Oxford e New York e Seoul e Tokyo MECHATRONICS Editors-in-Chief Dr R. W. Daniet, Department of Engineering Science, University of Oxford, Parks Road, Oxford OX1 3PJ, U.K. (Tel: 0865-273153; Fax: 0865-273153). Professor J. R. Hewit, Department of Mechanical Engineering, University of Technology, Loughborough, Leicestershire LE] 1 3TU, U.K. (Tel: 0509-223210; Fax: 0509-232029). Editorial Advisory Board Dr E. M. AsBasieva Proressor S. HACKWooD Dr M. E. Preston Bulgarian Academy of Sciences University of California University of Technology 1113 Sofia, Bulgaria Riverside, CA, U.S.A Loughborough, U.K Proressor H. Avett Dr G. HirZinGcer Proressor G. RZeEvski Ohio State University DFVLR Inst. for Flight Systems Dynamics Open University Columbus, OH, U.S.A Wessling, Germany Milton Keynes, U.K Proressor N. AsPRAGATHOS Dr Kon Ikuta Machine Design Laboratory Kyushu Institute of Technology Proressor P. TAYLor 26000 Patras, Greece lizuka-shi 820, Japan University of Hull Proressor A. P. Bessonov Proressor L. K. Keys Hull, U.K Academy of Sciences of Russia Louisiana State University Moscow-Centre 101000, Russia Baton Rouge, LA, U.S.A Dr J. P. TReveLYAN University of Western Australia Proressor Dr ir H. VAN Brusset Dr J. MAkRA ERNONI Nedlands, Australia Katholieke Universiteit Leuven Ibrahim U.9 Leuven, Belgium H-1113 Budapest, Hungary Proressor C. Viet Mr B. Davies Dr J. MARCHANT Université Paris XII Imperial College Institute of Engineering Research 910011 Evry, France London, U.K Silsoe, U.K Proressor M. VuKOBRATOVIC Proressor TAKASHI EMuURA Proressor A. Morecki Institut Mihajlo Pupin Beograd Tohoku University Warsaw University of Technology 11000 Beograd, Yugoslavia Sendai, Japan Warsaw, Poland Dr R. FEARING Proressor D. S. Naipt Dr D. YorerGer University of California Idaho State University Woods Hole Oceanographic Inst Berkeley, CA, U.S.A Pocatello, ID, U.S.A Woods Hole, MA, U.S.A Aims and Scope Mechatronics in its fundamental form can be regarded as the fusion of mechanical and electrical disciplines in modern engineering processes. It is a relatively new concept relating to the design of systems, devices and products aimed at achieving an optimal balance between basic mechanical structure and its overall control The purpose of this journal is to provide rapid publication of topical papers featuring practical developments in mechatronics. It will cover a wide range of application areas including consumer product design, instrumentation, manufacturing methods, computer integratioannd procaned sdesvic e control, and will attract a readership from across the industrial and academic spectrum Particular importance will be attached to aspects of innovation in mechatronics design philosophy which illustrate the benefits obtainable by an a priori integration of functionality with embedded microprocessor control. A major item will be the design of machines, devices and systems possessing a degree of computer based inteiligence. The journal seeks to publish research progress in this field with an emphasis on the applied rather than the theoretical. It will also serve the dual role of bringing greater recognition to this important area of engineering Mechatronics publishes the following types of papers Communications provide rapid publication of important new contributions. Authors are encouraged to submit their manuscripts in camera-ready form and may FAX manuscripts prepared in this way to the Editors-in-Chief Articles should describe the original research of high quality and timeliness in the field of mechatronics Reviews will generally be specially commissioned, however, suggestions for topics and authors are welcomed by the Editors-in-Chief Publishing, Subscription and Advertising Offices: Pergamon Press Ltd, Headington Hill Hall, Oxford OX3 OBW, U.K. or Pergamon Press Inc 660 White Plains Road, Tarrytown, NY 10591-5153, U.S.A innual Subscription Rates 1992 Annual institutional subscription rate (1992): £135.00 (US $245.00). Two-year institutional rate (1992/93): £256.50 (US $465.50). Sterling prices are definitive. US dollar prices are quoted for convenience only, and are subject to exchange rate fluctuation. Prices include postage and insurance and are subject to change without notice. Personal subscription rates for those whose library subscribes at the regular rate are available on request Subscription rates for Japan are available on request Published six issues/annum in February, April, June, August, October and December Copynght © 1992 Pergamon Press Ltd Application to mail at second class postage rate is pending at Rahway, NJ. Postmaster send address corrections to Mechatronics, c/o Pergamon Press Inc., 660 White Plains Road, Tarrytown, NY 10591-5153, U.S.A Whilst every effort is made by the publishers and editorial board to see that no inaccurate or misleading data, opinion or statement appear in this journal, they wish to make it clear that the data and opinions appearing in the articles and advertisements herein are the sole responsibility of the contributor or advertiser concerned. Accordingly, the pubiishers, the editorial board and editors and their respective employees, officers and agents accept no responsibility or liability whatsoever for the consequences of any such misleading data, opinion or statement Volume Contents Volume 2 Number 1 P. J. Kysero and P. H. CHappeci Object-slip detection during manipulation using a derived force vector S. H. Hopkins, F. EGuteparain d Algorithms for processing data from a photoelastic slip sensor D. T. PHAM J. Swevers,D . Torrs, F. DEMEESTER Fast and accurate tracking control of a flexible one-link robot and H. VAN Brussel based on real-time link deflection measurements D. G. Gweon and H. D. Kim Development of a mobile robot controlled by three motors for a hostile environment G. SCHWEITZER Mechatronics—a concept with examples in active magnetic bearings H. J. Park and H. S. Cuno On the realization of an accurate hydraulic servo through an iterative learning control S. J.O VASKA Electronics and information technology in high-range elevator systems H. BLomovisatnd J. HAAKER Hardware estimation method for embedded systems Instructions for the submission of camera-ready copy Volume 2 Number 2 R. J. Kuine-Scuoper and M. J. WriGut Design of a dither mirror control system Y.-J. Lin and T.-S. Let Comprehensive dynamic modeling and motion/force control of flexible manipulators P. P. ACARNLEY and R. S. Caint An optical-fibre commutator for brushless D.C. drives S. CETINKUNT and J. WoLoszKo A computer aided design and analysis software for motor sizing in servo control systems C. ZiELINSKI Description of semantics of robot programming languages V.Cor Methodology of mechatronics system decomposition G. G. RoGers Furthering the modular production concept: control systems for actuators Instructions for the submission of camera-ready copy Volume 2 Number 3 SPECIAL ISSUE MECHATRONICS—A KEY COMPETENCE IN FINLAND V. SALMINEN 219 Editorial V. SALMINEN, A. Veruo and T. LauriLa The Finnish Mechatronics Program—educational, research and industrial applications P. ViiTANEN, T. YLI-PIETILA, Modelling and simulation of mechatronical devices P. Yui-PAuNu and R. SUORANTA J. Hemaca, T. Ropponen and M. Arita Mechatronic design for industrial grippers V. SALMINEN and A. VEeRHO Systematic and innovative design of a mechatronic product T. VirvALO Distributed motion control in hydraulics and pneumatics H. Huovita, J. Surtora, A. VirTANEN General purpose valve amplifier with field bus interface and P. Peussa M. LAHDENPERA Severe environment electronics S. J. OVASKA Adaptive velocity loop in elevator control—potential problems and a practical solution M. LuoMARANTA, M. ViLeNnius and Programmable electrohydraulic mobile valve 1. AHONOJA Instructions for the submission of camera-ready copy Volume 2 Number 4 B. ROBERTSON 329 TELEMAN: progress during the first year J. P. KARUNADASA and A. C. RENFREW 347 Robust microprocessor control of a brushless d.c. motor driving variable inertia loads X. Q. CHEN and M. SarRHADI Investigation of electrostatic force for robotic lay-up of composite fabrics M.-C. Sin and C.-K. CHEN An experimental study on the hydraulic oscillator position control by using the model-following optimal control method C. W. Stammers, P. H. Prest and A friction drive robot wrist: electronic and control requirements C. G. Mostey R. W. Daniet andY . F. Li A solution to the problems in deriving true robot end velocity IV Volume 2 Number 5 SPECIAL ISSUE MECHATRONICS IN JAPAN J. R. Hewrr 415 Editorial T. Emura, A. ARAKAWA and Development of high speed servo-spindle for NC gear grinding M. HASHITANI machines I. HAYAsui, N. Iwatsuki, M. KAwal, Development of a piezoelectric cycloid motor J. Suipata and T. KitaGAwa N. Henmi, K. Sato, S. WADA A six-degrees of freedom fine motion mechanism and A. SHIMOKOHBE T. TAKAHASHI and H. INOOKA Swinging up of a pendulum by manual control M. KasiTAni and T. MAsuDA Recording method for high accurate rotary magnetic scales H. Maekawa, K. Yoxot, K. TANIE, Development of a three-fingered robot hand with stiffness M. KANEKO, N. Kimura and control capability N. IMAMURA H. Fusrra, A. Omopaka, K. B. Sim Position control of an electrostatic linear actuator using rolling and H. HaAsHimoTo motion M. SAKAMoTO, K. SASAKI and Active structural response control system T. Kosor! Instructions for the submission of camera-ready copy Volume 2 Number 6 T. H. Lee, T. S. Low andH . K. Lim 521 A technique for acceleration control with application to real- time control of a BLDC drive A. NisHi A biped walking robot capable of moving on a vertical wall H. Exerot andD . C. HopGson A machine vision system for high speed object tracking using a moments algorithm T. D. Hacpin, H. K. KAGHAZCHI Distributed control of manufacturing cells in a Unix and M. M. AHMAD environment H. J. Park and H. S. Cuo A fuzzy rule-based iterative learning control method with application to hydroforming processes T. H. Lee, C. C. HANG, L. L. LIAN An approach to inverse nonlinear control using neural networks andB . C. Lim M. Rourt Computation of feedback laws for static linearization nonlinear dynamical systems Instructions for the submission of camera-ready copy Volume Contents and Author Index for Volume 2, 1992