Showing papers on "Mechatronics published in 1997"

Mechatronics system design

Abstract: This text by Shetty and Kolk, blends the pertinent aspects of mechatronics--system modeling, simulation, sensors, actuation, real-time computer interfacing, and control--into a single unified result suitable for use in the college-level mechatronic curriculum. Students are introduced to all the topics needed to develop a good understanding of the basic principles used in mechatronics technology through the use of examples, problems and case studies, all of which can be quickly and affordably assembled and investigated in laboratory settings. Core aspects are combined with practical industrial applications and are presented in an opitimal way for understanding. The book features extensive coverage of the modeling and simulation of physical systems made possible by block-diagrams, the modified analogy approach to modeling, and state-of-the-art visual simulation software. A collection of case studies drawn from a variety of industries (complete with parts, lists, setup, and instructions) are used to support the authors' applied, design-oriented approach. Readers of this text will be equipped with all the tools necessary to plan, test, and implement a well-designed mechatronic system.

Command generation for flexible systems

Abstract: For many types of mechanical systems flexibility presents the biggest challenge to the control system. If the mechanical components undergo deflection during the course of operation, it may prove difficult to track a desired trajectory or avoid obstacles. Furthermore, once the system has reached a setpoint, the residual vibration will degrade positioning accuracy and may cause a delay in task completion. Even if the mechanical components are very stiff, a closed-loop controller may introduce flexibility of its own that is detrimental to system performance. The desired motion of a system is fed into a command generator that transforms the desired motion into a reference command. The reference command is then used to either drive an openloop system, or form an error signal for a closed-loop system. Not every control system has a closed-loop controller; however, every control system does have some form of command generator. In many systems the command generator may not be immediately obvious and it may not be programmed into a computer. For example, the command generator for a construction crane is the human operator who attempts to produce an appropriate reference command in real time. This thesis presents methods for designing command generators for flexible systems. Specifically, it is concerned with what shape the reference commands should have. If the commands have an appropriate shape, then they will produce the desired motion, while reducing the detrimental effects of flexibility. In this thesis, the reference command is treated as a design variable (within some bounds) rather than a given parameter. Thesis Committee: Prof. Warren P. Seering, Chairman Prof. Stephen H. Crandall Prof. Jean-Jacques E. Slotine Prof. George C. Verghese Dr. Neil C. Singer

The new taxonomy of systems: toward an adaptive systems engineering framework

Abstract: Systems engineering is developing rapidly, while new standards are created and new tools are being developed. However, the theoretical understanding and the conceptual foundation of systems engineering are still in their early stages. For example, although real-world systems exhibit considerable differences, there is very little distinction in the literature between the system type and the description of its actual system engineering pursuit. We suggest here a new approach to systems engineering. It is based on the premise that the actual process of systems engineering must be adaptive to the real system type. Using this concept, we present a two-dimensional (2-D) taxonomy in which systems are classified according to four levels of technological uncertainty, and three levels of system scope. We then describe the differences found in systems engineering styles in various areas, such as system requirements, functional allocation, systems design, project organization, and management style. We also claim that adapting the wrong system and management style may cause major difficulties during the process of system creation. Two examples will be analyzed to illustrate this point: the famous Space Shuttle case and one of the system development projects we studied.

Mechatronic systems-a challenge for control engineering

Abstract: The synergetic integration of mechanical processes, micro-electronics and information processing opens new possibilities as well to the design of processes as for its automatic control. The solution of tasks within mechatronic systems is performed on the process side and the digital-electronic side. As the interrelations during the design play an import role simultaneous engineering from the very beginning has to take place. Mechatronic systems are developed for mechanical elements, machines, vehicles and precision mechanic devices. The integration of mechatronic systems can be performed by the components (hardware-integration) and by information processing (software-integration). The information processing consists of low-level and high-level feedback control, supervision and diagnosis and general process management. Special signal processing, model based and adaptive methods are applied. With the aid of a knowledge base and inference mechanisms, mechatronic systems with increasing intelligence will be developed. The main goals are to increase systems performance, reliability and economy, and production costs. Some examples for the development of mechatronic systems are given, such as smart actuators, adaptive suspensions, electrical brakes, adaptive cruising control of cars, and hardware-in-the-loop simulation of combustion engines. Experimental results are shown, and the improvements by the mechatronic approaches are pointed out.

The what, why and how of mechatronics

Abstract: This article provides an introduction to the basic concepts of mechatronics. It considers the impact of mechatronics on the process of product design and development and sets out a framework within which the underlying technical and organisational requirements associated with a mechatronic approach to system design and development can be successfully deployed.

Mechatronics challenge for the higher education world

Abstract: Mechatronics engineering courses at undergraduate and graduate levels, as well as vocational training courses are rapidly increasing across the world. Philosophy and structure of such courses divert from the classical single-discipline engineering programs and induce a challenge for the higher education institutions. Different institutions in various countries are reacting differently to this challenge but, all aiming at educating mechatronics engineers. This paper reviews the mechatronics education at various centers in the world. It also analyzes the structure and contents of a number of selected mechatronics programs in various higher education institutions. Furthermore, it proposes a list of features that a sound mechatronics engineering program should contain.

Mechatronics. An overview

Abstract: Mechatronics is a synergy of several engineering disciplines. It relates to the design and manufacture of intelligent electromechanical products and devices. Goods and services that are produced by using Mechatronics principles have become an intimate part of human lives in modern civilization. Mechatronics has become the backbone for sustaining high standard of living of people, as well as a nation's competitiveness in the global marketplace. Demands for engineers with adequate knowledge and experience in Mechatronics have drastically increased in the last decade. This paper attempts to offer readers an overview on this emerging engineering process.

New developments in bond graph modeling software tools: the computer aided modeling program CAMP-G and MATLAB

Abstract: The Computer Aided Modeling Program (CAMP-G) is a bond graph modeling tool designed to make physical system models in graphical form and to generate systems of equations in source code form so that computer simulation programs and now MATLAB can analyze dynamic systems. Current technology allows the creation of system models using CAMP-G and performing simulations using general purpose simulation languages such as ACSL, DSL, CSSL or the user's own program. This paper investigates the ability to use bond graph modeling technology with MATLAB and its tool boxes, a package oriented to matrix state variable formulation and control system design. Basic principles of causality and equation generation are presented in order to establish the theoretical basis for the logic. The analysis of multienergy physical systems and control systems joins representations by block diagrams and bond graphs in a single model. The capabilities of CAMP-G to generate automatically source code models have been incorporated together with the mathematical capabilities of MATLAB. The new modeling environment created with this combination and the possible applications in system dynamics and control such as electromechanical and mechatronics systems are discussed.

Back to basics again – a scientific definition of systems engineering

Abstract: The major confusion with the understanding of systems engineering and improving its scientific basis is the failure to define the system of interest. Given a clear definition of the system of interest, engineered functions of that system can be identified, and applications of systems engineering concepts to those activities can be examined. A systems framework is suggested to classify basic engineering and systems engineering activities. This framework allows a better definition and search for scientific foundations of systems engineering.

Hardware in-the-loop simulation-a rapid prototyping approach for designing mechatronics systems

Abstract: Presents a rapid prototyping approach for the design and verification of mechatronics systems. We show the need for rapid prototyping the information processing part to perform hardware-in-the-loop simulation due to the limited modeling capability of mechanical processes. We propose the use of a graphical environment based on dataflow graphs to capture suitable algorithms. Through automatic extraction of C code targeting commercial digital signal processors and hardware-in-the-loop simulation, shorter turn-around cycles can be achieved. Furthermore, FPGA emulation or ASIC design can be started from the same dataflow graph which has already been validated, yielding improved confidence in and efficiency of the design flow. A real-world design example shows the feasibility of this approach for handling the complexity and heterogeneity of many algorithms found in mechatronics applications.

Engineering of complex systems with models

Abstract: The value of systems engineering and a vision of automation to aid the search for near optimal system designs is described. Realizing that vision requires application of modeling to system development and the definition of systems engineering itself. The approach is a synthesis of systems engineering best practices with the rigor of software engineering. The basic abstractions and processes required are described. The resulting meta-process description is highly tailorable to organization need and culture.

Energy Flow Modeling of Mechatronic Systems via Object Diagrams.

Abstract: Object diagrams are generalizations of block diagrams and of bond graphs, and allow mode-ling of input/output signal ow as well as energy ow. It is shown how object diagrams can be used for the modeling of mechatronic systems, consisting of 3-dimensional mechanical systems, electrical circuits, drive trains, control blocks etc. Emphasis is given to the description of energy ow between diierent components. Contrary to domain-speciic packages, all the details of an object diagram, such as equations of elements, graphical layout of icons or submodels, are deened in a \soft" way, not built into the package, and can be directly accessed by the user, to either use it as a template for user-deened model types or to make modiications that are necessary for the problem at hand.

A unique desk-top electrical machinery laboratory for the mechatronics age

Abstract: This paper describes an electrical machinery laboratory, named MECHATRO LAB 2PLUS, designed to cope with modern realities in which engineering graduates encounter various kinds of servomotors and actuators much more frequently than conventional power electric machines. The set-up can demonstrate the principles of some 20 different kinds of electric machines ranging from conventional rotary machines to modern control-use motors such as stepping motors, brushless motors and switched-reluctance drives. The experimental themes number more than 100, including elementary subjects, microprocessor-controlled power electronic drives and control/drive programming using various computer languages. Unlike conventional motor-generator workshop equipment, a remarkable feature of this desk-top bench is that it does not occupy much space on a permanent basis. Along with the background of its design history, which covers more than 20 years, the uniqueness and advantages of the new experimental set-up are presented in detail, citing some sample experiments and reactions of Japanese students and overseas instructors.

The 3 rd Industrial Revolution through Integrated Intelligent Processing Systems

Abstract: Intelligent processing systems have potentia to create completely productive, high quality and stabl society with several orders of magnitude greater potential in manufacturing, economy, and cultu re. The potential is realized only by implementing a new cellular architecture for integrating diverse intelligen processing systems with concurrent locality of cells in a global framework of a cellular structured space. The keys to the success of such integration include two types of breakthroughs based, one on the machine side and the other on the human side: 1. The breakthrough of the complexity of ever expanding intelligent processing systems. 2. The breakthrough of human cognitive capability based on cellular conceptual space architecture. Some test case studies demonstrate the reality of the potential. I. PROLOGUE What we generally call the rd industrial revolution is a type of drastic social changes lead by the computerized mechatronics technology. It is the successor of the nd industrial revolution lead by mechatronics technology , namely automated mechanics is controlled electronically, and took place around half century ago. Two and half centuries have passed since the 1 st industrial revolution started by the extensive use of automated machines in manufacturing in Yorkshire. The role of intelligence in the 3rd industrial revolution is clear in the historical perspective. Electronics served as the nerves of the human body to control he muscles, in the 2 nd industrial revolution. The nerves are commanded b the brain. Now we have computers as automated machines that perform a part of the functions of the human body, intelligence in particular. Hence, the 3rd industrial revolution is based on intelligent mechatronics that automates a part of the brain commanded nerve-muscle systems of the human body. What is meant by this is clear now. When we discuss intelligent processing systems in the context of the 3 rd industrial revolution, they have to be discussed considering intelligent mechatronics, industrial robotics as a typical case. Since such intelligent machines work in the human society in intelligent interaction with human beings, the intelligent aspects of human engineering such as human cognitive technology are also expected to play a major role in the rd industrial revolution. When we apply the conclusions thus drawn to the world economy, the consequence is quite drastic. Currently the world economy is moving towards the direction to cut off the educational cost necessary to create intelligent human resources for the 21 st century. Further, the best intelligent part of human cognitive technology, namely human centered cognitive technology is being ignored for the short term economic profit to promote uniform mass processing in manufacturing, sales, financing and in the major part of other corporate level and national- and international- level social activities such as economic policy planning. The short term cost driven traditional scheme of mass production, mass sales and mass financing is against the rd industrial revolution. The use of intellig ent processi systems to meet the need of the short term cost effectiveness is among the easiest and hence most prac ticed applications. It leads the whole social system to the extremely short term saturation of the need. The inevitable cycle of mass supply and consequent market saturation generates the socially turbulent cycle of economic boom and recessio , and these cycles are becoming ever shorter by the extensive penetration of intelligent processing systems into product development, manufacturing, marketing, sales and financing. The whole society is becoming more and more unstable, shaken by sharper and sharper waves of social changes in economy, industry, finance, politics and even culture. This research aims at finding the types of intelligent processing systems and their applications that work towards the increase of the stability of the society as a whole in a "positive" way. "Positive" here means "constructive" such that each person as a member of the society plays the life role to construct a type of a society that functions stably to make each social member's life "better". Here, "better" is qualitative. It further means our research emphasis on quality rather than on quantity, and our research goal towards quality. Hence, we consider "mass- " to be secondary.

The Development of a Shared Interdisciplinary Intelligent Mechatronics Laboratory

Abstract: This paper describes experience in developing an interdisciplinary mechatronics laboratory and success in using the lab to support academic instruction. It emphasizes the strategies and procedures that were important in creating an interdisciplinary laboratory in a traditional discipline-oriented academic institution. The strategies address objectives, acquisition and allocation of funding, and exploiting the existing infrastructure. Procedures such as the formation of a managing body and support for staff are also an important aspect of successful interdisciplinary laboratory development. The specific use of the lab is illustrated by two case studies, and its various benefits are discussed.

Using contemporary tools to teach dynamics in engineering technology

Abstract: The following paper illustrates the usage of modern educational tools in teaching dynamics to students of engineering technology. Problems in engineering technology are traditionally skill based rather than theory based. As a result the instructor has to illustrate problems keeping the hands-on approach in mind. One of the best ways to exemplify theory, to meet the above requirements, is the usage of modern educational tools like multimedia, simulation software and visualization techniques. This helps the students to understand the engineering aspect of dynamics from the pure science aspect of the subject matterÐa key feature in satisfying our program requirement.

High-order iterative learning control : convergence, robustness and applications.

Abstract: Mechatronics, Industrial automation, computer-based decision and control; Industrial process control, optimal control, and real-time control; Numerical analysis and real-time implementation; Multi-dimensional system theory and signal processing; Identification and model reduction; Engineering software development; Engineering optimization, optimal control, and operations research; Simulation, GUI, man-machine interfaces, and embedded systems; Learning control and soft-computation; Robot control, servomechanisms, and hard disk servo; Machine vision/visual servoing, pattern matching, sensor fusion; Instrumentation and biomedical engineering; Guidance control and inertia navigation systems; Flight dynamics and exterior ballistics.

Model-based automatic generation of sequence-control programs from design information

Abstract: Sequence control is an important part of the control software in mechatronics machines. A new model-based technique automatically generates sequence-control programs by integrating various kinds of design information.

Computational intelligence in robotics and mechatronics

Abstract: There are many growing demands to make systems more intelligent to meet more advanced requirements. This paper provides the outline of computational intelligence (CI), the intelligent system architectures and design methods of the system. Intelligent systems can be made by the method of CI, such as fuzzy logic, neural networks and evolutional computation. Furthermore, intelligent systems require the capabilities for evolution, adaptation and learning. This paper discusses the roles of evolution, adaptation and learning on the robotics and mechatronics. Next, we show two models of intelligent systems: hierarchical intelligent system and structured intelligent system.

Simulation of modular mechatronic systems with application to vehicle dynamics

Abstract: The example of articulated vehicles is used to introduce a new simulation concept. Modules found by functional decomposition of an engineering system can be encapsulated by an input-output representation. They are then interconnected by the system inputs and outputs, or, in the case of mechanical systems, by constraints using joints. It is shown that the resulting mechanical DAE structure can effciently be solved by a projection method. A multirate integration is proposed for efficient simulation of systems with different time scales. The simulatorNEWMOS is introduced supporting all the features described. Simulation runs show that the multirate scheme is essential to achieve a stable integration of the articulated vehicles problem.

Performance evaluation of an active vision system

Abstract: The design of active vision systems requires the integration of action and perception components and therefore involves a range of disciplines, including computer vision, control theory, and mechatronics. Assessments of the performance of the resulting system are needed at all stages of the development. This dissertation addresses the problem of finding both measures and means for evaluating the performance of an active vision system in a systematic and quantitative way. In particular, we examine the performance of a camera pan axis in a monocular fixation task. The work combines model-based analysis with experiments on a real active vision system. We start by constructing models for all components of the system and match the models with the actual hardware through calibration or system identification. For the performance evaluation experiments we built a testbed consisting of two robot manipulators that generate controllable and repeatable target motions. Several factors have been identified that influence the geometry and accuracy of the target motion and its mapping onto the image plane. The first set of experiments tests the linear properties of the active vision system. The experiments measure the frequency response of the system, which is used to identify a linear model of the active vision system. The main problem of linear characterizations of performance is that they cannot model the loss of the target. The second set of experiments explores some of the conditions under which the linear model fails and the system loses the target from its field of view. The knowledge of these performance limits can be used to increase the range of operation of the active vision system by adapting the operating parameters dynamically to the motion characteristics of the target.