Showing papers on "Mechatronics published in 2002"

The mechatronics handbook

Abstract: Overview of Mechatronics. Physical System Modeling. Sensors and Actuators. Sensors. Actuators. Systems and Controls. Signals and Systems in Mechatronics. Computers and Logic Systems. Software and Data Acquisition.

A Keyword-Set Search System for Peer-to-Peer Networks

Abstract: The Keyword-Set Search System (KSS) is a Peer-to-Peer (P2P) keyword search system that uses a distributed inverted index. The main challenge in a distributed index and search system is finding the right scheme to partition the index across the nodes in the network. The most obvious scheme would be to partition the index by keyword. A keyword partitioned index requires that the list of index entries for each keyword in a search be retrieved, so all the lists can be joined; only a few nodes need to be contacted, but each sends a potentially large amount of data. In KSS, the index is partitioned by sets of keywords. KSS builds an inverted index that maps each set of keywords to a list of all the documents that contain the words in the keyword-set. When a user issues a query, the keywords in the query are divided into sets of keywords. The document list for each set of keywords is then fetched from the network. The lists are intersected to compute the list of matching documents. The list of index entries for each set of words is smaller than the list of entries for each word. Thus search using KSS results in a smaller query time overhead. Preliminary experiments using traces of real user queries show that the keywordset approach is more efficient than a standard inverted index in terms of communication costs for query. Insert overhead for KSS grows exponentially as the size of the keyword-set used to generate the keys for index entries. The query overhead for the target application (metadata search in a music file sharing system) is reduced to the result of the query as no intermediate lists are transferred across the network for the join operation. Given our assumption that free disk space is plenty, and queries are more frequent than insertions in P2P systems, we believe this is a good tradeoff. Thesis Supervisor: M. Frans Kaashoek Title: Professor of Computer Science and Engineering

Mechatronic design of a ball-on-plate balancing system

Abstract: This paper discusses the conception and development of a ball-on-plate balancing system based on mechatronic design principles. Realization of the design is achieved with the simultaneous consideration towards constraints like cost, performance, functionality, extendibility, and educational merit. A complete dynamic system investigation for the ball-on-plate system is presented in this paper. This includes hardware design, sensor and actuator selection, system modeling, parameter identification, controller design and experimental testing. The system was designed and built by students as part of the course Mechatronics System Design at Rensselaer.

The role of bond graph modeling and simulation in mechatronics systems: An integrated software tool: CAMP-G, MATLAB–SIMULINK

Abstract: One of the main and most challenging steps in the design and analysis of a mechatronics system is to generate a computer model. This paper explores the fundamental theory, the methodology and the process from conceptual ideas to practical realization. Using a multienergetic approach that allows the modeling of interdisciplinary models, it explores the theory and method to automate the process of the generation of the differential equations and how to automate the derivation of transfer functions. The approach is discussed for linear and non-linear systems. The generation of a computer model takes new dimensions when that model contains mixed energy domains such as electromechanical, electrohydraulic, thermo-fluid, and electronic control systems all together. These are typical of mechatronics applications. This paper explores the bond graph technique as a modeling tool to generate state space models or non-linear models together with software tools. CAMP-G (Computer Aided Modeling Program with Graphical input) has been developed in order to generate computer models automatically and have them integrated with MATLAB–SIMULINK as simulation tools. Several aspects of mechatronics systems design have been investigated in order to focus on which areas the bond graph modeling technique can help engineers in the process of creating mechatronics systems from scratch. Towards this end, the paper deals with computer-generated models of sensors, actuators, and multidisciplinary complex physical systems.

Hardware in the loop simulation of robot manipulators through Internet in mechatronics education

Abstract: This study is on the development of a remote simulation of robot manipulators using hardware-in-the-loop (HIL) system for mechatronics education At this stage of the study, necessary hardware and software has been set-up and the actual torque components derived through Euler-Lagrange formulation have been simulated in real time on the test-bed, incorporating a joint actuator-disturbance (load) actuator pair The required communication and user interfaces are implemented through the use of Internet technologies The expected results have been obtained

Curriculum, equipment and student project outcomes for mechatronics education in the core mechanical engineering program at Kettering University

Abstract: Following an NSF grant in 1997 to develop undergraduate mechatronics laboratories and courses, two senior-level elective courses were introduced in the mechanical engineering curriculum at Kettering University. The student popularity of the subject, and relevance to graduating mechanical engineers soon made it clear that mechatronics education belonged to the core curriculum at Kettering. To integrate mechatronics into the mechanical engineering core, two existing sophomore-level courses were redesigned to include significant educational experiences in mechatronics design and prototype fabrication. Introduction to Design (ME-203) previously featured a 6-week student project in which teams of students would design and build an electromechanical device to accomplish functionality defined in design constraints provided by the professor. However, these devices were not mechatronic in nature. In the revised course, the objective is to evolve these designs to utilize embedded microcontrollers, sensors and actuators and achieve much more sophisticated functionality. To accommodate the anticipated increase in time required to complete such projects, the existing sophomore course Instrumentation (ME-204) was revised to incorporate learning objectives from the senior-level mechatronics elective courses. Further, 6 weeks of laboratory time from Instrumentation could then be dedicated to the aforementioned mechatronic projects. As such, both ME-203 and ME-204 have been integrated to form an eight-credit “Introduction to Mechatronics Design” course. This paper details the scope of this course, the specialized equipment developed for it and student project outcomes.

Theory of technical systems and engineering design synthesis

Abstract: “Engineering” or designing a technical system means anticipating its usage, construction, etc A “technical system” is a designed artefact with a substantial technical content. The scope and contents of design science are outlined, showing the role and context of the theory of technical systems. Designing is discussed as a mixture of systematic and intuitive processes. The systematic design processes are based on the theory of technical systems, suitably adapted to the design situation for the particular design problem. This systematic process is described in relation to the theory and to some other known methods. Its major application is for conceptualising products at various abstract levels of modelling, and allowing a wide search for alternatives at each level. The procedure then reaches into the layout and detailing stages. The systematic process is not only applicable to novel design problems (although it is set up for that task), but can also be applied to redesign problems.

Teaching control system design through mechatronics: academic and industrial perspectives

Abstract: The present approach to teaching control system design as a stand-alone course offered late in the undergraduate curriculum, with little discussion of hardware, implementation, or integration through design, is ineffective in preparing students for engineering practice. Control systems must be integrated into the design from the beginning and not be simply after-thought add-ons. Based on the authors' extensive experience teaching mechatronics to university students and professional engineers, an integrated mechatronic approach to teaching controls is proposed. This approach will seriously address the deficiencies in the present-day skills of working professionals, as observed by the authors in teaching professional engineering workshops. These deficiencies are a direct result of how we presently teach controls and related topics.

Assessment of mechatronic system performance at an early design stage

Abstract: For conceptual design of electromechanical motion systems, an assessment method is formulated that supports the design of a feasible reference path generator, control system, and electromechanical plant with appropriate sensor locations, in an integrated way. This method is based on a classification of standard transfer functions, plant models, and closed-loop systems. The assessment method can be applied in several ways, depending on the available knowledge about the design problem. In order to illustrate this method, an application to an industrial motion system is described. The assessment method quickly provides insight in the design problem. Furthermore, feasible goals and required design efforts can be estimated at an early stage.

Asynchronous Hands-On Experiments for Mechatronics Education

Abstract: There has been great interest and effort at many engineering educational institutions to introduce on-line, or “asynchronous” courses. However, at the present time, the vast majority of on-line or distance education courses lack any hands-on activities that require the manipulation of physical artifacts or physical experimentation. This paper describes a series of hands-on Mechatronics experiments associated with an introductory Mechatronics course that could be done “anytime, anywhere” (asynchronously). The experiments are based on a relatively inexpensive “kit” of components and a single-board microcontroller.

A vibration isolation platform

Abstract: This paper describes one of the projects for the undergraduate course 2.737 Mechatronics in the Mechanical Engineering Department at MIT. This project uses an 8-inch audio speaker as the basis for a one-axis vibration isolation platform. This system is intended to isolate the platform from base vibrations and also to stabilize the platform with respect to on-board generated disturbances. This function is similar to that required for isolating precision machines such as wafer steppers and coordinate measuring machines. This project provides a context for students to deepen their understanding of frequency-domain feedback design techniques and implementation issues.

Mechatronics and the design of intelligent machines and systems

Abstract: This book is about Mechatronics, which the authors define as the confluence of mechanical engineering, electronics (mainly microprocessors and sensors), and software. The authors are academics and consultants with experience in teaching mecha-tronics and building industrial systems. This book is an introductory level text on design method-ologies for mechatronic systems. There is one chapter each of introductory material on mechanical systems, electronics, and software development. The rest of the book is devoted to short introductions to basic artificial intelligence techniques, user interfaces, system safety, and manufacturing considerations for mechatronic products. Mechanical engineers who need a fast introduction to designing mechatronic systems will find this book helpful for a survey of important topics. Most of the introductory material receives a fairly mathematical treatment, but they are certainly not enough to begin applying these techniques. Computer scientists and software professionals may find this book valuable if they are part of a mechatronic product design team. It might help provide a common design vocabulary with the mechanical engineers. Howevei', the content of the chapters on artificial intelligence and software engineering will be useless. The authors seem ambivalent about the term \"software engineering\", only using it in the chapter on software development. Good software practice is called software engineering. Bad software practice is called hacking. A design example for a robotic excavator (backhoe) is used as a case study throughout the book. The project was un-dertaken by the authors over a period of several years for academic purposes. This provides valuable examples for the design processes and problem solving in a mechatronic design process. The robotic excavator problem doesn't provide the authors with a way to demonstrate either artificial intelligence techniques or software developmefit. In the software section of the book they are primarily concerned with requirements capture. Two chapters cover AI topics. One chapter discusses methods for knowledge acquisition, knowledge representation, and search (including genetic algorithms). Unfortunately, there is no discussion of the applicability or trade-offs of the various methods. The second chapter introduces neural networks including perceptrons, the delta rule, and backpropagation; adaptive resonant networks, and Hopfield nets; and fuzzy systems. While the basic mathematics of each is presented there is no discussion that might guide an engineer in making a design decision. On the other hand, these chapters would be useful in helping an engineer understand an expert who might be brought in for any implementation. This book is an interesting …

Mechatronic curriculum: retrospect and prospect

Abstract: Recently, many attempts have been pursued to devise an engineering curriculum that will allow students to successfully enter the engineering fields Mechatronics is a unifying theme that permeates and comprehends modern engineering One weakness of the computer, electrical, and mechanical engineering curricula is the failure to achieve sufficient background, knowledge, depth, and breadth in integrative multidisciplinary areas to solve complex engineering problems To overcome this weakness, the integration and developments are sought through mechatronics The mechatronic curriculum can be viewed as the vehicle by which students are introduced to subject matter, multidisciplinary areas, and disciplines, eg, electrical, mechanical, and computer engineering fields of study Mechatronics is a part of the modern integrated (confluent) curriculum due to interaction, interpretation, relevance, and systematization Efficient and effective means to assess the current trends in modern engineering with assessments analysis and outcome prediction must be devised through the mechatronic paradigm The multidisciplinary mechatronic courses, combined with the variety of active student learning processes and synergetic teaching styles, will produce a level of overall student accomplishments that is greater than any achievements which can be produced by refining the conventional electrical and mechanical curricula The multidisciplinary mechatronic paradigm serves very important purposes because it brings new depth to electrical, mechanical, and computer areas, advances students knowledge and background, provides students with the basic problem-solving skills that need to cope with advanced electromechanical systems controlled by microprocessors or digital signal processors (DSPs), covers state-of-the-art hardware, and applies modern software environments Through the mechatronic curriculum, important program objectives and goals can be achieved and assessed The integration of mechatronic courses into the engineering curriculum is reported in this article

Mechatronics and smart structures: emerging engineering disciplines for the third millennium

Abstract: This paper tackles the impact that Mechatronics and Smart Structures disciplines have on the engineering education in the new millennium. Mechatronics is an emerging engineering area that will likely alter the fundamental nature of engineering education in the disciplines of electrical and mechanical engineering. It can provide an academic model for developing multi-disciplinary programs within the engineering college departmental structure that is historically based on the traditional engineering disciplines. Mechatronics integrates the classical fields of mechanical engineering, electrical engineering, computer engineering, and information technology to establish basic principles for a contemporary engineering design methodology. A mechatronics concentration area in the engineering curriculum would support the synergistic integration of precision mechanical engineering, electronics control, and systems thinking into the design of intelligent products and processes. Smart Structures, a. k. a. Adaptive Structures, a. k. a. Adaptronics, is an emerging engineering field with multiple defining paradigms. One definition is based upon a technology paradigm: “the integration of actuators, sensors, and controls with a material or structural component”. Multi-functional elements form a complete regulator circuit resulting in a novel structure displaying reduced complexity, low weight, high functional density, as well as economic efficiency. Another definition is based upon a science paradigm in an attempt to capture the essence of biologically inspired materials by addressing the goal as creating material systems with intelligence and life-like features integrated in the microstructure of the material system to reduce mass and energy and produce adaptive functionality. Their basic characteristics of efficiency, functionality, precision, self-repair, and durability continue to fascinate designers of engineering structures today.

Mobile Mini-Robots for Engineering Education*

Abstract: Mobile robots provide a motivating and interesting tool to perform laboratory experiments within the context of mechatronics, microelectronics and control. Students study this particular example in system design and integration tasks at different levels of complexity. This paper describes a set of workshops in which mobile robots were constructed in order to introduce students by hands-on experiments to mechatronic systems and control system design. This was tackled in combination with a teleoperations environment for rovers. Such tele-education experiments in the area of telematics are addressed in the paper, as well as describing typical objectives, the mobile robot hardware and the exercises performed within such robotics workshops.

Mechatronics “a graduate perspective”

Abstract: Over recent decades the development of a new engineering philosophy has occurred within the industry, that has become known as Mechatronics. The demand initiated by industry for engineers with such a different approach to the subject eventually guided universities towards creating dedicated degree programs for Mechatronics. The question remained how to teach such a different philosophy within traditional engineering departments. A new approach towards teaching Mechatronics pioneered at the University of Hull, with the emphasis on developing a project base supported by traditional teaching is described. This radical approach aims to dispense with the concept of passive theoretical learning and encourages an attitude of active education.

A cooperative control for car suspension and brake systems

Abstract: Mechatronic subsystems are more and more developed in automotive industries. To enhance the local controls performances, a cooperative control between ABS and Suspension systems is proposed. The respective controls are first designed separately with their dedicated models. Then a hybrid hierarchical architecture is developed. The advantage of this architecture is discussed through vehicle performance with simulation results.

The Mechatronics Handbook - 2 Volume Set

Abstract: Mechatronics has evolved into a way of life in engineering practice, and indeed pervades virtually every aspect of the modern world. As the synergistic integration of mechanical, electrical, and computer systems, the successful implementation of mechatronic systems requires the integrated expertise of specialists from each of these areas.De

The Mechatronics laboratory experience

Abstract: This paper describes an approach taken to undergraduate laboratories in Mechatronics. A sequence of six laboratories culminate with an apparatus that involves the microprocessor control of a floating ping-pong ball. The apparatus consists of a cooling fan (taken from a PC) located at the base of a vertical tube (in which the ping-pong ball levitates) and an ultrasonic sensor at the top of the tube (to measure the height of the ball). The apparatus was found to be an invaluable supplement to the theory taught in the classroom, and in particular in the areas of microprocessor programming and interfacing, areas that are traditionally foreign to Mechanical Engineering students. Student experience with this apparatus relative to a much more expensive computer integrated manufacturing (CIM) assembly cell available in another course is considered. It is argued that the ping-pong ball apparatus better embodies the underlying principles of mechatronic system design, relative to the formal CIM assembly cell.

Design and control of under-actuated and over-actuated mechanical systems - challenges of mechanics and mechatronics

Abstract: The majority of current mechanical systems used in machinery and especially those which are controlled by microprocessors can be described as equal-actuated. This means that the number of actuators (drives, controls) is equal to the number of degrees-of-freedom. The mechanical systems can have directly such property or it can be as such treated during the design and operation. Classical rigid mechanisms can have such property naturally. Generally all flexible mechanisms violate this property as not all flexible degrees-of-freedom can be actuated and thus directly controlled. However, there are important mechanical systems which do not fulfil this criterion at equality of actuators and degrees-of-freedom. The examples of under-actuated systems are bio-mechanical systems during dynamic phase of motion, technical systems of cranes, vehicles, underwater robots, missiles with failed engines, inverted pendulum, and ball on the beam. The examples of over-actuated systems are again biomechanical systems during the contact with ground and recently introduced redundantly actuated parallel robots. The paper first deals with the introduction and definition of the property of under-actuation, equal-actuation and over-actuation. Then the paper deals with the control of under-actuated or over-actuated systems and the challenge of how to design such systems. For the covering abstract see ITRD E125059.

Applications of Mechatronics to Animal Production

Abstract: The concept of biosensors technology applied to animal production, mainly based on the miniaturized electronic mechanics (MEM) has being used since the mid 70s into several stages of production, such as feeding, detection of metabolic testing in animal husbandry, as well as to individual identification and monitoring, which is an important step towards tracking of actions and application of traceability of events and processes in the animal protein production chain. Last generation of such devices includes the real possibility of storing animal data as well as providing authentication protocols. The concept of specific management of a certain event rather then treating the herd/flock as a whole, likewise the precision farming, leads the precision animal production to re-evaluate losses and misdiagnosis by increasing the efficiency and accuracy and the use of precision techniques. The application of mechatronics in animal production is found through the use of biosensors and MEMs, improving data collection and allowing more precise decision making actions. This paper presents some examples of the use of this technology in specific areas related to animal production.