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Showing papers on "Mechatronics published in 1994"


01 Jan 1994
TL;DR: This thesis presents a formal framework for modelling changes to running programs and uses it to study the validity of an on-line change, and shows that it is undecidable to whether or not a given on-lines change is valid.
Abstract: CERTIFICATE Certiied that the work contained in the thesis entitled \On-line Software Version Change", by \Deepak Gupta", has been carried out under our supervision and that this work has not been submitted elsewhere for a degree. ii Synopsis On-line software version change has emerged in the recent years as a technique for installing software changes in systems in which the shutdown necessitated by the conventional method of installing a new version of a running program can not be tolerated. In the present thesis, we present a formal framework for modelling changes to running programs and use it to study the validity of an on-line change. We also discuss some implementation issues and describe a prototype implementation. Our framework for on-line changes is based on the notion of processes and process states. An on-line change is deened as a sequence of actions involving stopping a running process, changing its code, mapping its state and then continuing it. The overall behavior of a process that has undergone an on-line change is likely to be diierent from any behavior that can be exhibited by either of the two program versions. It is, therefore, important to deene what constitutes an \acceptable" behavior of such a process. We capture this notion in our deenition of the validity of an on-line change. We deene an on-line change to be valid if some time after the change, the process reaches a reachable state of the new program version. Thus, validity ensures that following a change, the process starts behaving like the new version of the program after a \transition period". We rst consider validity of on-line changes to programs written in sequential procedure based languages. For this purpose, a very simple model in which procedures and functions are not allowed is rst considered. State is modelled as a mapping from variable names to values. For this model, we show that it is undecidable to nd whether or not a given on-line change is valid. This result has important consequences. It means that computable necessary and suucient conditions for validity of change can not be obtained. Undecidability in this simple model also iii implies undecidability in other more realistic models. We then develop a set of suucient conditions which ensure validity and show how they can be checked using data-ow analysis. We then extend the model to include functions and procedures and consider a function (or procedure) as …

58 citations


Journal ArticleDOI
R.D. Schraft1
TL;DR: The number of service robots currently in operation is small, but the number of people working in the service field shows a constant growth rate, so there is an enormous potential for the expansion of this sector.
Abstract: Led by the Japanese, industrial robots have been in use for some 20 years. While the level of development in industrial production is already well advanced, the service area is just now emerging as the future field application. The number of service robots currently in operation is small, but the number of people working in the service field shows a constant growth rate. Consequently, there is an enormous potential for the expansion of this sector. >

44 citations



Journal ArticleDOI
TL;DR: In this article, the benefits of mechatronics by discussing the example of the design of an electronic braking system for automobiles are discussed. But the authors do not discuss the application of this discipline in the automotive domain.
Abstract: Pioneered in Japan embraced in Europe and the United States, the engineering discipline of mechatronics seeks to design optimum performance into subsystems of electromechanical products. Mechatronics is the synergistic combination of precision mechanical engineering, electronic control and systems thinking in the design of products and manufacturing processes. The author examines the benefits of mechatronics by discussing the example of the design of an electronic braking system for automobiles. >

30 citations


Book
01 Sep 1994
TL;DR: In this paper, a model of a mobile gantry crane system as a basis for control computer control and storage logistical system on designing tool wear monitoring systems using supervised and unsupervised neural networks.
Abstract: Part 1 Mechatronics in manufacturing: modelling of a mobile gantry crane system as a basis for control computer control and storage logistical system on designing tool wear monitoring systems using supervised and unsupervised neural networks. Part 2 Robotic aspects in mechatronics: robitics usage for belt-grinding for parts with complicated shapes dynamics of in-plane motion of a robot arm accuracy features measurements of industrial robots. Part 3 Sensors in mechatronics: registration of product surfaces using 3D laser scanning real-time perception planning for an autonomous vehicle analysis of a laser beam deflecting mechatronics system. Part 4 Actuators in mechatronics: piezomechanics - a new subsystem in mechatronics and its applications in precision engineering position control of an electric actuator with backlash an intelligent soft-start system for large induction machines. Part 5 Mechatronical systems: computer aided design of mechanisms based on some mechatronics ideas microstructuring technologies, handling and testing (the state of the art). Part 6 Advanced approaches in mechatronics: kinematic modelling of plan flexible robots a compensation method for elastic deformation of driving wheels in navigation of wheeled robots. Part 7 Mechatronics in education: mechatronics engineering education in the UK mechatronics and engineering education at the Technical University of Cluj. (Part contents).

24 citations



Journal ArticleDOI
TL;DR: In this paper, the potential for introducing automation processes including robots into the construction industry is discussed and some of the problems to be tackled including technical and organisational problems of site layouts and the role of automation and robotics in construction.
Abstract: Examines the potential for introducing automation processes including robots into the construction industry. Outlines some of the problems to be tackled including the technical and organisational problems of site layouts and the role of automation and robotics in construction. Looks at the advantages of using task‐specific robots and the development of mechatronics. Emphasizes the need for the development of CAD in architecture and construction as autonomous robotic machines require appropriate design description of a building to make available the necessary information about the developing building geometry on the construction site.

23 citations


Journal ArticleDOI
TL;DR: In this article, the importance of affective learning and the hidden curricula in teaching mechatronics at tertiary level is discussed, in particular issues on the curricula are discussed.

18 citations


Book
01 Apr 1994
TL;DR: In this article, the authors present high and low level programming analogue and digital interfacing principles of continuous control control system modelling digital control techniques applications to mechatronic systems, including electrical actuators, electropneumatic and electro-hydraulic systems.
Abstract: Basic electrical theory analogue electronics instrumentation, sensors and measurement electrical actuators electro-pneumatic and electro-hydraulic systems digital electronics microprocessor technology high and low level programming analogue and digital interfacing principles of continuous control control system modelling digital control techniques applications to mechatronic systems.

16 citations


Proceedings ArticleDOI
05 Sep 1994
TL;DR: The first real robot in space which flew with shuttle COLUMBIA in early 1993 as discussed by the authors was a multisensory gripper based on a fully modular hard-and software-concept.
Abstract: The paper outlines DLR's mechatronic developments in the robotics area over the last five years. They aim at designing a new multisensory, modularly configurable light weight robot generation in a unified and integral way. A first step in this direction has been the development of a complex multisensory gripper based on a fully modular hard- and software-concept. It turned out to be a key element in ROTEX, the first real robot in space which flew with shuttle COLUMBIA in early 1993. Sensors and actuators in DLR's new ultra-light-weight robot show up miniaturized integration of mechanics, electronics and of course microprocessor control. Joint torque based on inductive sensing may be combined with different type of gearings: translational ones (using a new spindle drive concept), originally developed for grippers but easily usable, e.g. in tendon driven elbow-like joints, 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. All power and signal electronics is integrated into the arm which shows up a 1:1 ratio between load and own weight. >

15 citations


Journal ArticleDOI
TL;DR: The paper tries to outline the state of the art in space robotics and tries to emphasize that by task-level programming (involving 'learning by showing' on a high level) future space robots will be powerful tools for scientists and ground operators which are not robot specialists.
Abstract: The paper tries to outline the state of the art in space robotics. It discusses the technologies used in ROTEX, the first remotely controlled space robot which flew with the shuttle Columbia in April 1993, but it also gives a review of the major space robot projects envisioned by different nations for the next decade. The mechatronics and dynamics aspects of space robots including free-flying systems are briefly discussed. Broader attention is given to the telerobotic and teleoperational control loop structures, including predictive delay-compensating graphics simulation. The paper finally tries to emphasize that by task-level programming (involving 'learning by showing' on a high level) future space robots will be powerful tools for scientists and ground operators which are not robot specialists. The tele-sensor programming concept of ROTEX was a first step in this direction. We plead for flying a variety of space robot systems in the near future in order to enhance experience with and confidence in thes...

Proceedings ArticleDOI
08 May 1994
TL;DR: Features of an available computation environment for robot-dynamics design are described, which are environments for object-oriented mechatronics/robot dynamics modeling, for executing dynamics simulation experiments, for multiobjective parameter and trajectory optimization, and for multivariate result visualization.
Abstract: Features of an available computation environment for robot-dynamics design are described. These are environments for object-oriented mechatronics/robot dynamics modeling, for executing dynamics simulation experiments, for multiobjective parameter and trajectory optimization, and for multivariate result visualization. The environments have a common look and feel and are coherently integrated using an engineering database system. >

Proceedings ArticleDOI
08 May 1994
TL;DR: In this paper the implementation on the MART-robot of a hybrid controller for stabilization of non-holonomic systems is described and insight obtained into the geometrical meaning of different parameters of the controller allowed considerable improvements in the performance of the controllers on the actual mobile robot.
Abstract: One of the results of a research project on mechatronics is a mobile robot, which was used as a carrier for research on the design of mechatronical systems. This mobile robot, the Mobile Autonomous Robot Twente (MART), is intended to be used as major part of a future assembly factory. In this paper the implementation on the MART-robot of a hybrid controller for stabilization of non-holonomic systems is described. Limitations of the physical model of the mechanical structure of the MART-robot lead to a number of practical problems. An interesting result given in the paper is the insight obtained into the geometrical meaning of different parameters of the controller, which allowed considerable improvements in the performance of the controller on the actual mobile robot. >

BookDOI
01 Jan 1994
TL;DR: This paper presents a meta-annotation-based meta-modelling framework that automates the very labor-intensive and therefore time-heavy and expensive and expensive process of manually annotating semantic annotations.
Abstract: ing Modelling Languages: A Reutilization Approach . . . . . . . . . . 127 Juan de Lara, Esther Guerra, and Jesús Sánchez-Cuadrado Logical Invalidations of Semantic Annotations . . . . . . . . . . . . . . . . . . . . . . . 144 Julius Köpke and Johann Eder XIV Table of


Journal ArticleDOI
TL;DR: A mechatronics solution for the automation of a cone crusher control system based on a network of intelligent sensors and actuators, artificial intelligence technology and adaptive control is reported.

Proceedings ArticleDOI
05 Sep 1994
TL;DR: The paper outlines one architecture which has been developed for the control of a robotic excavator and compares it with the architecture adopted for an intelligent paper roll manipulator and certain of the problems of achieving the required level of autonomy within the specified environments are identified.
Abstract: The development of intelligent autonomous and semi-autonomous systems capable of operating safely in unstructured environments such as those outlined above will to a significant degree be dependent on the achievement on the levels of system integration and the transfer of functionality between the mechanical, electronic and software domains suggested by mechauonics. In particular, the system must be structured around an architecture which is capable of accommodating a range and variety of machine geometries and operational modes and which is also capable of supporting the associated sensing and safety requirements. The paper outlines one such architecture which has been developed for the control of a robotic excavator and compares it with the architecture adopted for an intelligent paper roll manipulator. Both these architectures are based around a goal oriented approach with the selection and organisation of the individual tasks necessary to achieve the desired goal left to the system. The extension of these architectures to incorporate the safety requirements for operation in an unstructured environment in association with other items of plant and machinery and with humans is also considered along with associated sensing requirements. From these considerations, certain of the problems of achieving the required level of autonomy within the specified environments are identified.

Journal ArticleDOI
TL;DR: This paper illustrates this concept of design through student projects drawn from the files of Mechanical Engineering microprocessor design courses at the Georgia Institute of Technology using the concurrent design philosophy.

Journal ArticleDOI
TL;DR: The role and importance of sensors and measurement systems within mechatronics is reviewed and illustrated with examples drawn from manufacturing, vehicle systems and domestic products.
Abstract: The word 'mechatronics' provides a focus for the integration of electronic hardware and computer software with mechanical engineering in a product or process. Sensors and sensing systems are integral to the functioning of mechatronic systems as providers of the process and procedural data on which their operation is based. In particular, development of digital control systems has been supported by increases in performance, reducing real costs, of the associated electronic processing, which has led to development of dedicated controller architectures based on use of application-specific integrated circuits. In the area of sensor development, the driving force is the silicon-based technology that can provide both the signal processing element in the form of the integrated circuit but increasingly also the sensing component, often on the same chip. Additionally, development of the techniques of micromachining has enabled production of complex structures on a chip, some of which, when combined with on-chip sensing and processing, may be considered to be mechatronic in their own right. The paper therefore reviews the role and importance of sensors and measurement systems within mechatronics and illustrates this with examples drawn from manufacturing, vehicle systems and domestic products.

Journal ArticleDOI
TL;DR: A new Mechanical Engineering curriculum has been introduced at the University of Tokyo as mentioned in this paper, which allows an increased number of electives in comparison to the traditional, structured mechanical engineering degree program.
Abstract: A new Mechanical Engineering curriculum has been introduced at the University of Tokyo. It was developed in response to changes in Japan's industrial infrastructure, as well as to new developments in mechanical engineering. This paper summarizes these developments and presents the concept of the new mechanical engineering curriculum which allows an increased number of electives in comparison to the traditional, structured mechanical engineering degree program.

Journal ArticleDOI
Marc Bodson1
TL;DR: In this article, the authors presented an overview of emerging technologies that are expected to become major areas of application for control systems technology, including intelligent vehicle highway systems, semiconductor manufacturing, mechatronics, and microelectromechanical systems.
Abstract: Provides an overview of emerging technologies that are expected to become major areas of application for control systems technology. The technologies that were selected were chosen because of their importance (especially in economic terms) and because of their relevance to the field of control. They are: intelligent vehicle highway systems; semiconductor manufacturing; mechatronics; and microelectromechanical systems. >

Journal ArticleDOI
TL;DR: In this article, a case study of the ODDATOR project is described, in which a distributed control approach utilizing the Controller Area Network was applied to control a hydraulic application, a drill arm - boom - on a tunnelling machine.

Journal ArticleDOI
TL;DR: In this paper, a hybrid controller switched from the fuzzy control to Pl control in the neighborhood of the desired position has been proposed, which is capable of improving the dynamic response when the reference position and load are changed.
Abstract: A pneumatic driving system has been used in the production facilities of various industries. However, high performance can not be easily achieved with these pneumatic systems because of the high nonlinear properties resulting from air compressibility and friction. Therefore it has been used mainly for relatively simple tasks. Recently, pneumatic systems must have high performance since they are used for robotics and mechatronics. As a fuzzy control uses fuzzy rules described with only a qualitative relationship between the input and output of the system without any mathematical modeling, it is considered to be useful for controlled plants with high nonlinear characteristics.This study is for improving the pneumatic servo system by providing the fuzzy control with advanced functions. The hybrid controller switched from the fuzzy control to Pl control in the neighborhood of the desired position has been proposed. It is capable of improving the dynamic response when the reference position and load are changed. It has been confirmed that the fuzzy control is very effective for use with advanced pneumatic system.

Dissertation
01 Jan 1994
TL;DR: This thesis develops the Quality Computer Aided Design (QCAD) system and tests it with both an easy to understand clamp model and a more complex copier model to expand the horizons of computerized knowledge based engineering.
Abstract: Conventional knowledge based engineering (KBE) systems connect engineers to engineers. These design systems integrate corporate engineering practices into a computerized framework. The intention is to quickly and efficiently create a product specification, leaving engineers time for other design tasks. KBE applications address conceptual design, geometric design, and part manufacturability, but do so in a segmented fashion. This segmentation is reminiscent of the throw it over the wall approach to design. Each program optimizes its own task at the expense of the overall system. Many companies today use multifunctional product development teams and total quality development methods to break down barriers among departments. KBE design systems should follow suit. To expand the horizons of computerized knowledge based engineering, this thesis develops the Quality Computer Aided Design (QCAD) system and tests it with both an easy to understand clamp model and a more complex copier model. The QCAD rrthodology consists of two parts: (1) a design process framework and (2) a computer program for use with the design framework. It is intended that a multifunctional product development team use QCAD to assist in developing both new and variational products from function designation to hardware definition to process specification. The QCAD system was implemented in the ICAD design language (IDL). ICAD is the leading supplier of commercial knowledge based engineering software worldwide. IDL is a super set of common lisp, an object oriented programming language, and is geared toward modeling products in the ICAD user interface. Comments are expressed about the benefits and drawbacks of combining the two design methods in a product development environment. Future improvements and research work are also suggested. Thesis Advisor: Don P. Clausing Title: Bernard M. Gordon Adjunct Professor of Engineering Innovation and Practice

Journal ArticleDOI
TL;DR: The Intelligent Manufacturing Systems (IMS) Laboratory at Louisiana State University as mentioned in this paper provides students with state-of-the-art mechatronic, computer-aided manufacturing (CAM), and computer-integrated manufacturing technologies.

Journal ArticleDOI
TL;DR: It is argued that if the goal of research in computational vision is considered to be that of understanding and designing seeing systems, then there needs to be a design strategy for such a system, and an analysis based on observations from the primate visual system is described.

Journal Article
TL;DR: A brief survey is first presented of the evolution of computer hardware and the effect of that evolution on structural software applications and development during the past forty years.
Abstract: A brief survey is first presented of the evolution of computer hardware and the effect of that evolution on structural software applications and development during the past forty years. The evolution of engineering mechanics texts during that same period is also reviewed.

Journal ArticleDOI
TL;DR: In this article, redundancy and self-diagnosis applied together with mechatronics make the diesel engines more reliable and safe, and particular issues referred to redundancy in electronic controllers of diesel engine.