IEEE Transactions on Industrial Electronics 

Volume 48,  Number 6, Dec 2001           Access to the journal on IEEE XPLORE     IE Transactions Home Page



                 Drive Control
48.6.1    J.Y. Hung, "Parameter estimation using sensitivity points: tutorial and experiment," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1043-1047, Dec 2001.   Abstract Link    Full Text

Abstract: Presented in this paper are a tutorial and experimental results for an iterative offline parameter identification scheme. The scheme utilizes the concept of sensitivity points to generate the gradient information that is used in the steepest descent estimation method. An experiment is conducted to identify parameters of a motor drive system in which the motor and load are connected by a compliant element. Estimated parameter values are also used in a position control experiment in which measured and designed responses are compared

48.6.2    Xinkai Chen, T. Fukuda, "Robust sliding-mode tip position control for flexible arms," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1048-1056, Dec 2001.   Abstract Link    Full Text

Abstract: In this paper, we consider the robust tip position control problem for flexible arms by using the sliding-mode method. The higher order modes of the flexible arm are treated as disturbances, and are compensated by introducing a disturbance observer. The remaining disturbance and the model uncertainties are considered as the system uncertainty. The robustness of the sliding-mode control is effectively employed to cope with the system uncertainty, where the upper and lower bounds of the uncertainty are adaptively updated. The stability of the closed-loop system is analyzed by using the fact that a part of the control input is the approximate estimate of the uncertainty. Experimental results show that the robustness and superiority of the proposed method, where only the strain moment at the root and motor angular position of the arm are measured

48.6.3    D. Casadei, G. Serra, A. Tani, "The use of matrix converters in direct torque control of induction machines," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1057-1064, Dec 2001.   Abstract Link    Full Text

Abstract: In this paper, a new control method for matrix converters is proposed which allows, under the constraint of unity input power factor, the generation of the voltage vectors required to implement the direct torque control (DTC) of induction machines. Using this control method, it is possible to combine the advantages of matrix converters with the advantages of the DTC schemes. Some numerical simulations are carried out, showing the effectiveness of the proposed method in steady-state and transient conditions. Some experimental tests were also carried out demonstrating the practical feasibility of this control scheme

48.6.4    B. Terzic, M. Jadric, "Design and implementation of the extended Kalman filter for the speed and rotor position estimation of brushless DC motor," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1065-1073, Dec 2001.   Abstract Link    Full Text

Abstract: A method for speed and rotor position estimation of a brushless DC motor (BLDCM) is presented in this paper. An extended Kalman filter (EKF) is employed to estimate the motor state variables by only using measurements of the stator fine voltages and currents. When applying the EKF, it was necessary to solve some specific problems related to the voltage and current waveforms of the BLDCM. During the estimation procedure, the voltage- and current-measuring signals are not filtered, which is otherwise usually done when applying similar methods. The voltage average value during the sampling interval is obtained by combining measurements and calculations, owing to the application of the predictive current controller which is based on the mathematical model of motor. Two variants of the estimation algorithm are considered: (1) speed and rotor position are estimated with constant motor parameters and (2) the stator resistance is estimated simultaneously with motor state variables. In order to verify the estimation results, the laboratory setup has been constructed using a motor with ratings of 1.5 kW, 2000 r/min, fed by an insulated gate bipolar transistor inverter. The speed and current controls, as well as the estimation algorithm, have been implemented by a digital signal processor (TMS320C50). The experimental results show that is possible to estimate the speed and rotor position of the BLDCM with sufficient accuracy in both steady-state and dynamic operation. Introducing the estimation of the stator resistance, the speed estimation accuracy is increased, particularly at low speeds. At the end of the paper, the characteristics of the sensorless drive are analyzed. A sensorless speed control system has been achieved with maximum steady-state error between reference and actual motor speed of ±1% at speeds above 5% of the rated value

48.6.5    Zhihong Su, K. Khorasani, "A neural-network-based controller for a single-link flexible manipulator using the inverse dynamics approach," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1074-1086, Dec 2001.   Abstract Link    Full Text

Abstract: This paper presents an intelligent-based control strategy for tip position tracking control of a single-link flexible manipulator. Motivated by the well-known inverse dynamics control strategy for rigid-link manipulators, two feedforward neural networks (NNs) are proposed to learn the nonlinearities of the flexible arm associated with the inverse dynamics controller. The redefined output approach is used by feeding back this output to guarantee the minimum phase behavior of the resulting closed-loop system. No a priori knowledge about the nonlinearities of the system is needed and the payload mass is also assumed to be unknown. The network weights are adjusted using a modified online error backpropagation algorithm that is based on the propagation of output tracking error, derivative of that error and the tip deflection of the manipulator. The real-time controller is implemented on an experimental test bed. The results achieved by the proposed NN-based controller are compared experimentally with conventional proportional-plus-derivative-type and standard inverse dynamics controls to substantiate and verify the advantages of our proposed scheme and its promising potential in identification and control of nonlinear systems

48.6.6    J. Mireles, F.L. Lewis, "Intelligent material handling: development and implementation of a matrix-based discrete-event controller," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1087-1097, Dec 2001.   Abstract Link    Full Text

Abstract: A supervisory controller for discrete-event (DE) systems is presented that uses a novel matrix formulation. This matrix formulation makes it possible to directly write down the DE controller from standard manufacturing tools such as the bill of materials or the assembly tree. The matrices also make it straightforward to actually implement the DE controller on a manufacturing workcell for sequencing the jobs and assigning the resources. It is shown that the DE controller equations plus the Petri net marking transition equation together provide a complete dynamical description of a DE system. This means that a computer simulation can be performed to check the DE performance of the controller before it is implemented. In this paper, the authors implement the DE controller on an actual three-robot intelligent material handling cell at the Automation and Robotics Research Institute, University of Texas at Arlington, USA. Then, they show that the actual implementation and the simulated system give commensurate results. The versatility of the system developed with this DE controller permits implementing different methodologies for conflict resolution, as well as optimization of the resource assignment and part throughput. Technical information given includes the development of the controller in LabVIEW and its simulation using MATLAB

48.6.7    Guchuan Zhu, A. Kaddouri, L.A. Dessaint, O. Akhrif, "A nonlinear state observer for the sensorless control of a permanent-magnet AC machine," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1098-1108, Dec 2001.   Abstract Link    Full Text

Abstract: This paper presents a sensorless speed regulation scheme for a permanent-magnet synchronous motor (PMSM) based solely on the motor line currents measurements. The proposed scheme combines an exact linearization-based controller with a nonlinear state observer which estimates the rotor position and speed. Moreover, the stability of the closed-loop system, including the observer, is demonstrated through Lyapunov stability theory. The proposed observer has the advantage of being insensitive to rotation direction. It is shown how a singularity at zero velocity appears in the scheme and how it can be avoided by switching smoothly from the observer-based closed-loop control to an open-loop control at low velocity. The system performance is tested with an experimental setup consisting of a PMSM servo drive and a digital-signal-processor-based controller for both unidirectional and bidirectional speed regulation

48.6.8    Meng Joo Er, Ya Lei Sun, "Hybrid fuzzy proportional-integral plus conventional derivative control of linear and nonlinear systems," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1109-1117, Dec 2001.   Abstract Link    Full Text

Abstract: This paper presents a new approach toward the optimal design of a hybrid proportional-integral-derivative (PID) controller applicable for controlling linear as well as nonlinear systems using genetic algorithms (GAs). The proposed hybrid PID controller is derived by replacing the conventional PI controller by a two-input normalized linear fuzzy logic controller (FLC) and executing the conventional D controller in an incremental form. The salient features of the proposed controller are as follows: (1) the linearly defined FLC can generate nonlinear output so that high nonlinearities of complex systems can be handled; (2) only one well-defined linear fuzzy control space is required for both linear and nonlinear systems; (3) optimal tuning of the controller gains is carried out by using a GA; and (4) it is simple and easy to implement. Simulation results on a temperature control system (linear system) and a missile model (nonlinear system) demonstrate the effectiveness and robustness of the proposed controller

48.6.9    D. Basic, V.S. Ramsden, P.K. Muttik, "Harmonic filtering of high-power 12-pulse rectifier loads with a selective hybrid filter system," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1118-1127, Dec 2001.   Abstract Link    Full Text

Abstract: Current distortion of 12-pulse rectifier loads is significantly lower compared to six-pulse rectifier loads. However, in passive filtering of the lowest and dominant characteristic 11th and 13th harmonics, the use of 5th and 7th filters is often required in order to prevent possible parallel and series resonance between the passive filter and source impedance which can be excited by source background distortion or by load current residual noncharacteristic harmonics at the 5th and 7th harmonic frequencies. In hybrid filter systems, an active filter (AF) can be added in series with the passive filter in order to isolate the source and load. In most proposed hybrid filter systems, AF control is based on the detection of total current distortion and high-frequency inverters. With a selective AF control system and voltage-controlled inverter, the AF can be controlled to isolate the load at the critical frequencies only while at all other frequencies the passive filter function is preserved so that lower switching frequency and AF rating is required. In this paper, the authors present a selective AF filter control system and simple hybrid filter topology suitable for the compensation of high-power 12-pulse rectifier loads. Harmonic current controllers based on the second-order infinite-impulse response digital resonant filters are used, as they can be considered as simple digital algorithms for more complex double cascaded synchronous-reference-frame-based proportional plus integral controllers. They are centered to the targeted harmonic frequencies by using an adaptive fundamental frequency tracking filter. This approach gives good results, even if the reference waveform (in our case, a load voltage) is highly distorted or unbalanced and no separate phaselocked loop is required. Test results for a laboratory model of this system and stability analysis are presented and the importance of delay-time compensation is discussed

48.6.10    Han-Jong Kim, Geun-Ho Lee, Cheol-Ho Jang, Jea-Pil Lee, "Cost-effective design of an inverter output reactor in ASD applications," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1128-1135, Dec 2001.   Abstract Link    Full Text

Abstract: In this paper, the cost-effective design of an output reactor which is used to suppress the overvoltage at the motor terminal in an adjustable-speed drive (ASD) application is proposed. The overvoltage suppression mechanism of an output reactor in an ASD application is analyzed and the dominant parameters of the output reactor for the overvoltage suppression are extracted. Using these parameters as the design values and considering the high-frequency characteristics of the iron core in the reactor, a new cost-effective structure of the output reactor is proposed. Experimental results of the conventional reactor and the proposed reactor with a 15-kW induction motor are given to verify the proposed scheme

48.6.11    Chang-Ming Liaw, Yeong-May Lin, Kuei-Hsiang Chao, "A VSS speed controller with model reference response for induction motor drive," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1136-1147, Dec 2001.   Abstract Link    Full Text

Abstract: This paper is mainly concerned with the development of a variable-structure system (VSS) controller with model reference speed response for an induction motor drive. An indirect-field-oriented (IFO) induction motor drive is first implemented, and its dynamic model at a nominal operating condition is estimated from measured data. Then, a two-degrees-of-freedom linear model-following controller (2DOFLMFC) is designed to meet the prescribed tracking and load regulation speed responses at the nominal case. As the variations of system parameters and operating condition occur, the prescribed control specifications may not be satisfied further. To improve this, a VSS controller is developed to generate a compensation control signal to reduce the control performance degradation. The proposed VSS controller is easy to implement, since only the output variable is sensed. The existence condition of sliding-mode control is derived, and the chattering suppression during the static period is also considered. Good model-following tracking and load regulation speed responses are obtained by the designed VSS controller. Effectiveness of the proposed controller and the performance of the resulting drive system are confirmed by some simulation and measured results

48.6.12    E.D. Mitronikas, A.N. Safacas, E.C. Tatakis, "A new stator resistance tuning method for stator-flux-oriented vector-controlled induction motor drive," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1148-1157, Dec 2001.   Abstract Link    Full Text

Abstract: Field-oriented-controlled induction motor drives have been widely used over the last several years. Conventional direct stator-flux-oriented control schemes have the disadvantage of poor performance in the low-speed operating area when the stator flux is calculated using the voltage model, due to the stator resistance uncertainties and variations. In this paper, a new closed-loop stator-flux estimation method for a stator-flux-oriented vector-controlled induction motor drive is presented in which the stator resistance value is updated during operation. This method is based on a simple algorithm capable of running in a low-cost microcontroller, which is derived from the dynamic model of the induction machine. The effects of stator resistance detuning, especially in the low-speed operating region, are investigated and simulation results are shown. The motor drive system as well as the control logic and the resistance estimator are simulated and characteristic simulation results are derived. In addition, the proposed control scheme is experimentally implemented and some characteristic experimental results are shown. The simulation as well as the experimental results reveal that the proposed method is able to obtain precise flux and torque control, even for very low operating frequencies


Power Electronics
48.6.13    B.M. Han, S.I. Moon, "Static reactive-power compensator using soft-switching current-source inverter," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1158-1165, Dec 2001.   Abstract Link    Full Text

Abstract: This paper describes a static reactive-power compensator using a soft-switching scheme. The proposed system is composed of a three-phase current-source inverter with an H-type soft-switching module, which consists of two semiconductor switches, two diodes, and an L-C resonant circuit. The operation of the proposed system was analyzed in detail through a theoretical approach and computer simulation with SPICE. A scaled prototype was built and tested for verifying the feasibility of hardware implementation. The proposed system would be suitable for a high-power application with less switching loss

48.6.14    J.E. Baggio, J.R. Pinheiro, "A simple active auxiliary commutation circuit for three-level PWM single-phase inverters," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1166-1173, Dec 2001.   Abstract Link    Full Text

Abstract: This paper presents the analysis and design of a new low-loss auxiliary circuit for three-level pulsewidth-modulation single-phase full-bridge inverters which achieve soft switching at all semiconductor devices. The active auxiliary commutation circuit (AACC) is composed of an LC circuit and two bidirectional switches, where one auxiliary switch commutates under zero-voltage switching condition and the other under zero-current switching condition. The AACC dispenses with the use of auxiliary voltage sources. Low reactive energy is added to the converter, resulting in low RMS current stresses at the main switches and, consequently, higher efficiency is achieved. Auxiliary circuit design procedures and experimental results are presented to prove the operation principle

48.6.15    E.S. da Silva, L. dos Reis Barbosa, J.B. Vieira, L.C. de Freitas, V.J. Farias, "An improved boost PWM soft-single-switched converter with low voltage and current stresses," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1174-1179, Dec 2001.   Abstract Link    Full Text

Abstract: This paper presents an improved regenerative soft turn-on and turn-off snubber applied to a boost pulsewidth-modulated (PWM) converter. The boost soft-single-switched converter proposed, which has only a single active switch, is able to operate with soft switching in a PWM way without high voltage and current stresses. This is achieved by using an auxiliary inductor, which is magnetically coupled with the main inductor of the converter. In order to illustrate the operating principle of this new converter, a detailed study, including simulations as well as experimental results, is carried out. The validity of this new converter is guaranteed by the obtained results

48.6.16    S.C. Tang, S.Y.R. Hui, H.S. Chung, "A low-profile wide-band three-port isolation amplifier with coreless printed-circuit-board (PCB) transformers," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1180-1187, Dec 2001.   Abstract Link    Full Text

Abstract: Galvanic isolations are essential in many electrical patient-monitoring devices and industrial applications. In this paper, a low-profile wideband three-port isolation amplifier using coreless printed-circuit-board (PCB) transformers for isolation is studied. The PCB thickness used in the isolation amplifier is 0.4 mm. The diameters of the two coreless PCB transformers are 9.75 and 5.856 mm, respectively. Operating conditions of the transformers and a design guideline of the isolation amplifier are detailed in this paper. Experimental results show that the isolation amplifier under investigation can transmit an analog signal from 20 mHz to 1.1 MHz with good linearity. Comparison of the prototype with an industrial isolation amplifier is also included

48.6.17    Yim-Shu Lee, Yue-Quan Hu, Kam-Wah Siu, "Single-switch electronic ballast with near-unity power factor and soft-switching characteristic," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1188-1195, Dec 2001.   Abstract Link    Full Text

Abstract: The design and analysis of a single-switch electronic ballast with near-unity power factor and soft-switching characteristic are presented. The ballast circuit is simple and has a small component count. The experimental results for an 80 W ballast show that it has a power factor higher than 0.99 and a total harmonic distortion of 12%. The operating frequency is between 20-40 kHz. The output power is adjustable and the circuit is reliable

48.6.18    J. Ribas, J.M. Alonso, A.J. Calleja, E.L. Corominas, M. Rico-Secades, J. Cardesin, "Low-cost single-stage electronic ballast based on a self-oscillating resonant inverter integrated with a buck-boost PFC circuit," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1196-1204, Dec 2001.   Abstract Link    Full Text

Abstract: In this paper, a new solution to implement and control a single-stage electronic ballast based on the integration of a buck-boost power-factor-correction stage and a half-bridge resonant inverter is presented. The control signals are obtained from the inverter resonant current by means of a saturable transformer. Core saturation is used to control the required dead time between the control pulses of both switches. Since no special integrated circuits are required to control the ballast, the total number of components is minimized and the final cost of the ballast is reduced compared to a typical two-stage configuration. Analysis and basic design guidelines are presented in the paper, together with experimental results obtained from a laboratory prototype

48.6.19    Kyoung-Wook Seok, Bong-Hwan Kwon, "An improved zero-voltage and zero-current-switching full-bridge PWM converter using a simple resonant circuit," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1205-1209, Dec 2001.   Abstract Link    Full Text

Abstract: An improved zero-voltage and zero-current-witching full-bridge pulsewidth modulation (ZVZCS-FB-PWM) DC-to-DC converter is presented and analyzed. An auxiliary resonant circuit, which consists of a switch and a capacitor, are added to provide zero-current switching (ZCS) conditions to the primary lagging-leg switches. Due to the auxiliary circuit, when the primary current is being extinguished, the voltage applied on the leakage inductance of the transformer is larger than DC-link voltage. This large voltage increases the maximal output current that can be handled in ZCS. Furthermore, the auxiliary switch softly turns on and turns off

48.6.20    D. Alexa, A. Sirbu, "Optimized combined harmonic filtering system," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1210-1218, Dec 2001.   Abstract Link    Full Text

Abstract: This paper presents a thorough analysis of the operation for the combined filtering system consisting of a passive filter with diodes connected in parallel with the capacitors and a low-power inverter. The diodes limit the voltage across the capacitors and the inverter starts to work when disturbances occur in the three-phase network, sending back to the network the excess energy taken by all the capacitors from the network during these disturbances. The proposed combined filtering system has reduced size and cost as well as high efficiency. Laboratory experiments and simulation results proving the effectiveness of the solution are also presented

48.6.21    Kyoung-Wook Seok, Bong-Hwan Kwon, "A novel single-stage half-bridge AC-DC converter with high power factor," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1219-1225, Dec 2001.   Abstract Link    Full Text

Abstract: A new single-stage AC-DC power converter based on a half-bridge converter suitable for low-power applications is proposed. The proposed converter offers high power factor and direct conversion from the line voltage to an isolated DC output voltage. High power factor is achieved by adding a resonant circuit between the rectifying diodes and half-bridge leg. For soft switching, a half-bridge series-loaded resonant converter is adopted as a DC-DC converter part. A prototype is built and tested to show the validity of the proposed converter


Emerging Technology
48.6.22    M. Al-Mouhamed, "A robust gross-to-fine pattern recognition system," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1226-1237, Dec 2001.   Abstract Link    Full Text

Abstract: This paper presents a model-based vision recognition engine for planar contours that are scale invariant of known models. Features are obtained by using a constant-curvature criterion and used to carry out efficient coarse-to-fine recognition. A robust shape matching is proposed for comparing contour fragments from scenes with partial occluding. In order to carry out an early pruning of a large portion of the models, hypotheses are only generated for a subset of contours with enough discriminative information. Poor scene contours are used later in validating or invalidating a relatively small set of hypotheses. Since hypotheses are selectively verified, blocking is avoided by extending current matching through pairing of hypotheses, predictive matching, and retrieving the next weighted hypotheses. This avoids the processing of a large number of initial hypotheses. The authors' evaluation shows that a high recognition error results from the use of too small a bucket size because the indexes may fall at random, producing nonrepeatable results. They use a multidimensional hashing scheme with space separation between dense parameter areas to create additional hashing tables. The robustness of the recognition is based on engineering a coarse bucket size to the best tolerance with respect to various sources of noise. Partially occluded scenes having three objects can be recognized with a success rate of 84%. The results are reproducible against changes in scale, rotation, and translation. Due to the selection of robust initial hypotheses and the structure of the selective matching system, the processing time essentially depends on scene complexity with a marginal dependence on database size

48.6.23    Chang-Gyun Kim, Dong-Hyun Seo, Jung-Sik You, Jong-Hu Park, B.H. Cho, "Design of a contactless battery charger for cellular phone," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1238-1247, Dec 2001.   Abstract Link    Full Text

Abstract: In this paper, the design of a contactless charger for the lithium-ion battery of a cellular phone is presented. In this charger, the primary core of the transformer is in the charger unit and the secondary core is in the telephone. The gap (3 mm) between them is the thickness of the two plastic cases. The transformer core design for the maximum coupling coefficient with the size constraint on the secondary side is presented. Analysis of the primary-side series resonant power converter with the loosely coupled transformer is performed, and the design optimization is presented. For the battery-charging control, a simple control circuit is presented and its performance is verified from the experimental results

48.6.24    M. Kunes, T. Sauter, "Fieldbus-internet connectivity: the SNMP approach," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1248-1256, Dec 2001.   Abstract Link    Full Text

Abstract: Important reasons for connecting fieldbus systems to IP-based networks are the provision of remote access for monitoring and maintenance purposes, but also the inclusion of automation systems into an enterprise-wide management scope. Existing solutions are chiefly based on Web technology or require specialized, fieldbus-dependent tools. In this paper, the authors propose a different strategy using the standardized and widely used Simple Network Management Protocol. This approach is largely fieldbus-independent and, at the same time, interoperable with existing LAN technology. They discuss the architecture of a protocol conversion gateway and present a modular approach to cope with the variety of available fieldbus protocols. They further propose a structure for a management information base suitable to represent the fieldbus data objects. By means of prototype implementations for different fieldbus systems (Profibus, P-NET, and EIB), they study the influence of the underlying fieldbus communication principles on the gateway implementation and operation

48.6.25    R. Oboe, "Web-interfaced, force-reflecting teleoperation systems," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1257-1265, Dec 2001.   Abstract Link    Full Text

Abstract: An ever-growing number of Internet-connected devices is now accessible to a multitude of users. Being a ubiquitous communication means, the Internet could allow any user to reach and command any device connected to the network. This paper reports the successful application of real-time closed-loop control over the Internet in the Java Based Interface for Telerobotics (JBIT) system, in which Internet users can access and command a two-degrees-of-freedom robot in real time, receiving both visual and force feedback. When the closed-loop control of a remote system comes into play, careful evaluation of the performance and limits of the communication system in use is mandatory. The analysis reported shows that the main limits of the Internet are the unknown available throughput, the variable delay, and the loss of some data packets, in particular, when the network is congested. Once the limits of the communication system are known, it is shown that it is possible to use the Internet for the remote closed-loop control of a slave robot, provided that suitable strategies to guarantee operability and safety of the controlled system have been implemented. The strategies implemented in order to overcome the limits posed by the present Internet characteristics are described, along with an improved coordinating force control scheme, which enhances the transparency of the teleoperator


Letters to the Editor
48.6.26    B. Wilamowski, A. Malinowski, J. Regnier, "Internet as a new graphical user interface for the SPICE circuit simulator," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1266-1268, Dec 2001.   Abstract Link    Full Text

Abstract: The Spice Internet Package (SIP) was developed using an Internet browser as a platform-independent graphical user interface. The SIP application has many options that include simulation of SPICE files, graphical postprocessing data, and online editing of SPICE files. It can run remotely through a network on any operating system

48.6.27    Fang Lin Luo, "Six self-lift DC-DC converters, voltage lift technique," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1268-1272, Dec 2001.   Abstract Link    Full Text

Abstract: The voltage lift technique is a popular method widely applied in electronic circuit design. Applying it has created six new DC-DC step-up power converters, namely, self-lift DC-DC power converters, which possess high output voltage with smooth ripple. Therefore, these converters can be used in computer peripheral equipment and industrial applications

48.6.28    C.C. Chan, Z.M. Zhao, S. Meng, Y.F. Liu, E.W.C. Lo, "Strategy and implementation for design and analysis of induction machines supplied by power electronic inverters," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1272-1274, Dec 2001.   Abstract Link    Full Text

Abstract: Induction machines supplied by power electronic inverters for variable-speed systems are different from those fed directly from a utility power line. The design strategies of induction machines considering power electronic supply are presented and implemented. The proposed approach permits the integration of the design of machines with inverters, comprehensive performance analysis, and system optimization

48.6.29    Yang Gao, Meng Joo Er, Song Yang, "Adaptive control of robot manipulators using fuzzy neural networks ," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1274-1278, Dec 2001.   Abstract Link    Full Text

Abstract: This paper presents an adaptive fuzzy neural controller suitable for multilink manipulators motion control. The proposed controller has the following salient features: (1) self-organizing fuzzy neural structure; (2) online learning of the robot dynamics; (3) fast convergence of tracking error; and (4) adaptive control. Computer simulation results of a two-link manipulator demonstrate that excellent tracking performance can be achieved under external disturbances

48.6.30    T. Senjyu, T. Kashiwagi, K. Uezato, "Position control of ultrasonic motors using MRAC with dead-zone compensation," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1278-1285, Dec 2001.   Abstract Link    Full Text

Abstract: The ultrasonic motor has a heavy nonlinearity, which varies with driving conditions and possesses variable dead zone in the control input associated with applied load torque. This dead zone is a problem as an accurate positioning actuator for industrial applications and it is important to eliminate the dead zone in order to improve the control performance. This letter proposes a new position control scheme for ultrasonic motors, to overcome the load-torque-dependent dead zone employing model reference adaptive control with dead-zone compensation. The dead zone is compensated by an observer, whereas model reference adaptive control performs accurate position control. Mathematical models are formulated and experimental results are given to validate the proposed position control scheme

48.6.31    Yu-Kang Lo, Sheng-Yuan Ou, Huang-Jen Chiu, "Coupling analysis of a three-phase power-factor corrector composed of three single-phase modules," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1285-1288, Dec 2001.   Abstract Link    Full Text

Abstract: The coupling behavior, during the turn-off intervals, of the main switches in a three-phase boost power-factor corrector composed of three single-phase modules is analyzed by the authors in this paper. The rejoining of the split inductor currents of the same phase is also proven theoretically and verified with experiments

48.6.32    N.J. Medrano-Marques, B. Martin-del-Brio, "Sensor linearization with neural networks," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1288-1290, Dec 2001.   Abstract Link    Full Text

Abstract: A procedure for extending the linear range of an arbitrary sensor is proposed. The process is carried out by a neural network which compensates the sensor nonlinear characteristic. A negative temperature coefficient resistor sensor is used as an application example of the procedure, and its implementation in low-resolution microcontrollers is analyzed

48.6.33    A. Shenkman, B. Axelrod, V. Chudnovsky, "Assuring continuous input current using a smoothing reactor in a thyristor frequency converter for induction metal melting and heating applications," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1290-1292, Dec 2001.   Abstract Link    Full Text

Abstract: The approximate analysis of a thyristor frequency converter for induction heating and melting is described. The method for calculating the smoothing reactor inductance, which will provide the continuous mode of inverter input current operation, is proposed. The laboratory prototype of the above converter has been made and examined. The results of the experiments are in good agreement with the theoretical calculations

48.6.34    E. Bim, "Fuzzy optimization for rotor constant identification of an indirect FOC induction motor drive," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1293-1295, Dec 2001.   Abstract Link    Full Text

Abstract: The adaptive field-oriented control of an induction motor drive using fuzzy logic for the identification of the rotor time constant is proposed. The identification is presented as an optimization problem and the objective function is the total square error between the motor and commanded stator currents. Experimental results are presented

48.6.35    "Author Index," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1296-1301, Dec 2001.   Abstract Link    Full Text

Abstract: Not Available

48.6.36    "Subject Index," IEEE Trans. on Industrial Electronics, vol. 48, no. 6, pp. 1301-1320, Dec 2001.   Abstract Link    Full Text

Abstract: Not Available