Showing papers on "Mechatronics published in 1993"

Managing the integration problem in concurrent engineering

Abstract: Concurrent engineering in large-scale product development generally involves multiple cross-functional teams working simultaneously on separate aspects of the overall development effort. The often complex technical coupling among such teams makes integrating their activities an essential yet difficult task for project management. We refer to this challenge of integrating teams as the integration problem in concurrent engineering. This paper presents a methodology for determining the needs for integration and coordination by studying the underlying technical structure of a project. We use a project modeling tool known as the Design Structure Matrix (DSM) to depict the patterns of required information flow in a project. This matrix representation allows us to identify where coordination is most essential and then to design integration mechanisms based on the specific technical information needs of the project. The utility of this methodology in an industrial setting is demonstrated by an application to the development of a new automobile engine at General Motors.

A CAD for Functional Design

Abstract: Summary Although functional design (or conceptual design) is crucial to whole design processes, traditional CAD technology based on geometric modeling does not support this process because of difficulty of dealing with function. This paper proposes a new methodology to deal with function. Called FBS (Function-Behavior-State) modeling, and describes a computer tool to support functional design based on the FBS modeling. Importance and advantages of the FBS modeling is clarified by demonstrating two examples. One is the design of functionally redundant machines and the other is the automatic generation of control software for mechatronics products.

Direct Physical Modeling and Automatic Code Generation for Mechatronics Simulation

Abstract: Computational mechatronics analysis and design necessitates a strongly interacting multidisciplinary approach. It requires a multidisciplinary model building environment for computer-controlled physical systems, with automatic generation of efficient computer-executable model code.

Hierarchical control system in intelligent robotics and mechatronics

Abstract: This paper introduces a hierarchical control scheme for intelligent robotics and mechatronics. The scheme has three levels: learning level, skill level and adaptation level. The learning level manipulates symbols to reason logically for control strategies. The skill level produces control references along with the control strategies and sensory information on environments. The adaptation level controls robots and machines while adapting to their environments which include uncertainties. For these levels and to connect them, artificial intelligence, neural networks, fuzzy logic, and genetic algorithms are applied to the hierarchical control system while integrating and synthesizing themselves. To be intelligent, the hierarchical control system learns various experiences both in top-down manner and bottom-up manner. The hierarchical control scheme is effective for intelligent robotics and mechatronics. >

“Block-oriented Modelling of Rigid Multibody Systems with Regard to Subsystem Techniques”

Abstract: Mechatronic systems are increasingly becoming important in engineering; they are characterized by a combination of components from different technical disciplines. The high complexity of such systems calls for systematic treatment as well in model generation as in system analysis and synthesis. Special treatment is required for the mechanical components. This paper presents two methods of building up multibody systems in a modular and hierarchical manner. One of them is based on force connections and the other on a recursive Newton-Euler algorithm, specially designed for computation. Either method allows independent generation of aggregates and functional groups of a system, management and then re-coupling with computer support; thus a kind of modelling is made possible which closely follows the structure of the technical system.

Design Methodology and Relationships with Science: Introduction

Abstract: In many business corporations there is a clear tendency towards increasingly multidisciplinary design activities. A striking example of this is the emerging field of mechatronics, that combines elements of electrical and mechanical engineering and information technology1. Mechatronics design is therefore carried out by teams, that consist of experts in different engineering disciplines that have to bring together their individual knowledge to integrate them in the design process.

The intelligent manufacturing systems initiative at Louisiana State University

Abstract: In the 1992 IEMT15S Proceedings Louisiana State University (LSU) presented the outlines for an initiative in mechatronics engineering. Progress, developments, and changes of the past year are discussed. The emphasis of the program has grown from mechatronic products to integrated manufacturing systems. The broader focus includes the multi-disciplinary concepts of mechatronics, but adds larger scale interaction and intelligence. The LSU facility is composed of a network of manufacturing systems or cells which interact to form a multi-cell facility. Demonstrations, student instructional laboratories, and graduate research use and contribute to continued growth. >

Practical Realization of Mechatronics in Robotics

Abstract: Design of a very fast and precise modular revolute-joint manipulator is shown in detail. The complete design cycle from modelling over identification up to realization of the control is aided by a mechatronic design environment which is based on a unified model description in state-space. Special emphasis lies on the generation of a reliable entire model of this complex system and on the controller design. The derivation of a symbolic model of the robot including elasticities in gears and bearings is the basis of the design of a complex controller including a disturbance estimator. Measurements show the efficiency of the proposed proceeding.

Autonomous mechatronic actuators as a basis for modular intelligent machines

Abstract: Mechatronic systems and especially intelligent such systems, tend to be complex due the nature of the control problem and due the flexibility of software and its infinite possibilities to change, renew and improve functionality. The proposed concept of autonomous mechatronic actuator modules interconnected to form a distributed system architecture is based upon the observation that complex systems should be built from well understood and dependable components. The idea behind the concept is to provide a computer system which really supports complex control application and modular designs. The proposed control architecture allows advanced and machine specific intelligent control algorithms and provides encapsulated and high performance low level control. The backbone of the architecture is a communication subsystem which meets the real-time demands of advanced machine control systems. >

Design of optimal active vehicle suspensions based on realistic models

Abstract: This paper describes the simulation and design environment developed at the DLR-Institute for Robotics and System Dynamics. Its main ingredients are SIMPACK as the multibody simulation package and ANDECS, the analysis and design framework for controlled dynamical systems. The design of mechatronic vehicles requires co- operating CAE-tools which allow complex simulation models and multi-objective parameter optimization based on these models. After briefly describing the basic tools and methodologies their application to the design results of an active suspension with preview based on realistic models is presented.

Mechatronic concepts in the design of new multisensory light-weight-robots

Abstract: The paper outlines DLR's mechatronic development in the robotics area over the last five years. They aim at designing a new multisensory light weight robot generation in a unified and integral way. All sensors for the multisensory gripper concept are based on a fully modular hard- and software-concept. Sensors and actuators as well show up miniaturized integration of mechanics, electronics and of course microprocessor control. Joint torque based on inductive sensing is combined with different type of gearings: translational ones originally developed for grippers only as well as compact, highly reducing rotational ones. In combination with optimized carbon fibre grid structures and optical information transfer between the joints a new, extremely light-weight type of robot arises. The paper finally proposes a hybrid control concept adding neural net learning features to classical inverse dynamics control.

Intelligent mechatronics

Abstract: The author's aim is to give an overview of mechatronics during the past years by looking at universities and major industries. A simple technical definition of mechatronic systems is given. A rather young field of research is micromechatronics, which is an important area of intelligent mechatronics and is discussed in detail. As yet this field is still very much in the research phase and only limited applications are feasible for the near future. On the other hand quite amazing progress has been made in manufacturing prototypes of micro-actuators and micro-sensors at research facilities. These developments are indispensable for future intelligent mechatronics. Motion control systems are beginning to heavily rely on powerful computer performance making the application of advanced control theory and new "soft technologies" feasible, e.g. fuzzy logic, artificial neural networks and visualization technology including virtual/artificial realities. In this context the author presents the "Intelligent Assisting System-IAS". Using this system the author approaches the identification and analysis of human mechanical manipulation skills to be used for intelligent human operator assistance. Finally the author speculates about the future of mechatronics. >

Experience with the application of systems engineering tools

Abstract: Systems engineering is one of the last engineering disciplines to be automated. Now that system design automation (SDA) tools are finally becoming available, they are expected to be a “silver bullet” that offer a miraculous solution to the complex process of building large systems. However, experience. has shown that the addition of computer-based tools to the systems engineering activity in fact adds an additional layer of concern to an already complex situation. Getting measurable benefits from the application of automated systems engineering tools has proven to require close management attention due to many factors. This paper addresses the above and other issues, citing lessons learned in the deployment of RDD-100(r) System Designer on several large programs and discussing the strategies that may be employed to maximize success in automating systems engineering processes.