Showing papers on "Mechatronics published in 2003"

Mechatronic Systems: Fundamentals

Abstract: Integrated Mechanical Electronic Systems Fundamentals for Theoretical Modeling of Technical Processes Fundamental Equations of the Dynamics of Mechanical Systems with Mobile Masses Mechanical Elements Electrical Drives Machines and Drivetrains Identification of Dynamic Systems Models of Oscillations and Their Identification Sensors Actuators Microcomputers Examples for the Design of Mechatronic Systems: Modelling, Control and Diagnosis.

Control of pendulum: from Super Mechano-System to Human Adaptive Mechatronics

Abstract: The Super Mechano-System was the research project at the Tokyo Institute of Technology from 1997 to 2002 and the Human Adaptive Mechatronics (HAM) Project is the newly selected COE research project at Tokyo Denki University from 2003 to 2008. Both projects are sponsored by the Ministry of Education, Culture, Sports, Science and Technology in Japan. The author was the SMS project leader until 2000 and Prof. S. Hirose succeeded. Many mechanical systems with functions adapting to varying environment and the relating basic theory have been developed. The concurrent design method of the mechanism and controller has been developed by the control research group in the project. Human adaptive mechatronics is a system, which includes the human in the control loop and changes the functions and structure of the man-machine interface according to the improvement of the human operation skill. In this plenary lecture, the control of the multiple pendulums from the pendant to the upright position is discussed from the viewpoint of varying constraint systems. The swing-up control of pendulums is discussed by considering reachability of an unstable nonlinear system by nonlinear control. A new approach to analyse and to design a nonlinear control based on the fractal is presented. The results show that the map of the control parameters and the initial conditions give interesting results.

Mechatronics: Electronic Control Systems in Mechanical and Electrical Engineering

Abstract: Preface Introduction 1 Introducing mechatronics Chapter objectives 1.1 What is mechatronics? 1.2 The design process 1.3 Systems 1.4 Measurement systems 1.5 Control systems 1.6 Programmable logic controller 1.7 Examples of mechatronic systems Summary Problems Sensors and signal conditioning 2 Sensors and transducers Chapter objectives 2.1 Sensors and transducers 2.2 Performance terminology 2.3 Displacement, position and proximity 2.4 Velocity and motion 2.5 Force 2.6 Fluid pressure 2.7 Liquid flow 2.8 Liquid level 2.9 Temperature 2.10 Light sensors 2.11 Selection of sensors 2.12 Inputting data by switches Summary Problems 3 Signal conditioning Chapter objectives 3.1 Signal conditioning 3.2 The operational amplifier 3.3 Protection 3.4 Filtering 3.5 Wheatstone bridge 3.6 Pulse modulation 3.7 Problems with signals 3.8 Power transfer Summary Problems 4 Digital signals Chapter objectives 4.1 Digital signals 4.2 Analogue and digital signals 4.3 Digital-to-analogue and analogue-to-digital converters 4.4 Multiplexers 4.5 Data acquisition 4.6 Digital signal processing Summary Problems 5 Digital logic Chapter objectives 5.1 Digital logic 5.2 Logic gates 5.3 Applications of logic gates 5.4 Sequential logic Summary Problems 6 Data presentation systems Chapter objectives 6.1 Displays 6.2 Data presentation elements 6.3 Magnetic recording 6.4 Optical recording 6.5 Displays 6.6 Data acquisition systems 6.7 Measurement systems 6.8 Testing and calibration Summary Problems Actuation 7 Pneumatic and hydraulic actuation systems Chapter objectives 7.1 Actuation systems 7.2 Pneumatic and hydraulic systems 7.3 Directional control valves 7.4 Pressure control valves 7.5 Cylinders 7.6 Servo and proportional control valves 7.7 Process control valves 7.8 Rotary actuators Summary Problems 8 Mechanical actuation systems Chapter objectives 8.1 Mechanical systems 8.2 Types of motion 8.3 Kinematic chains 8.4 Cams 8.5 Gear trains 8.6 Ratchet and pawl 8.7 Belt and chain drives 8.8 Bearings 8.9 Mechanical aspects of motor selection Summary Problems 9 Electrical actuation systems Chapter objectives 9.1 Electrical systems 9.2 Mechanical switches 9.3 Solid-state switches 9.4 Solenoids 9.5 D.C. motors 9.6 A.C. motors 9.7 Stepper motors Summary Problems Microprocessor systems 10 Microprocessors and microcontrollers Chapter objectives 10.1 Control 10.2 Microprocessor systems 10.3 Microcontrollers 10.4 Applications 10.5 Programming Summary Problems 11 Assembly language Chapter objectives 11.1 Languages 11.2 Instruction sets 11.3 Assembly language programs 11.4 Subroutines 11.5 Look-up tables 11.6 Embedded systems Summary Problems 12 C language 12.1 Why C? 12.2 Program structure 12.3 Branches and loops 12.4 Arrays 12.5 Pointers 12.6 Program development 12.7 Examples of programs 12.8 Arduino programs Summary Problems 13 Input/output systems Chapter Objectives 13.1 Interfacing 13.2 Input/output addressing 13.3 Interface requirements 13.4 Peripheral interface adapters 13.5 Serial communications interface 13.6 Examples of interfacing Summary Problems 14 Programmable logic controllers Chapter objectives 14.1 Programmable logic controllers 14.2 Basic PLC structure 14.3 Input/output processing 14.4 Ladder programming 14.5 Instruction lists 14.6 Latching and internal relays 14.7 Sequencing 14.8 Timers and counters 14.9 Shift registers 14.10 Master and jump controls 14.11 Data handling 14.12 Analogue input/output Summary Problems 15 Communication systems Chapter objectives 15.1 Digital communications 15.2 Centralised, hierarchical and distributed control 15.3 Networks 15.4 Protocols 15.5 Open Systems Interconnection communication model 15.6 Serial communication interfaces 15.7 Parallel communication interfaces 15.8 Wireless protocols Summary Problems 16 Fault finding Chapter objectives 16.1 Fault-detection techniques 16.2 Watchdog timer 16.3 Parity and error coding checks 16.4 Common hardware faults 16.5 Microprocessor systems 16.6 Emulation and simulation 16.7 PLC systems Summary Problems System models 17 Basic system models Chapter objectives 17.1 Mathematical models 17.2 Mechanical system building blocks 17.3 Electrical system building blocks 17.4 Fluid system building blocks 17.5 Thermal system building blocks Summary Problems 18 System models Chapter objectives 18.1 Engineering systems 18.2 Rotational-translational systems 18.3 Electromechanical systems 18.4 Linearity 18.5 Hydraulic-mechanical systems Summary Problems 19 Dynamic responses of systems Chapter objectives 19.1 Modelling dynamic systems 19.2 Terminology 19.3 First-order systems 19.4 Second-order systems 19.5 Performance measures for second-order systems 19.6 System identification Summary Problems 20 System transfer functions Chapter objectives 20.1 The transfer function 20.2 First-order systems 20.3 Second-order systems 20.4 Systems in series 20.5 Systems with feedback loops 20.6 Effect of pole location on transient response Summary Problems 21 Frequency response Chapter objectives 21.1 Sinusoidal input 21.2 Phasors 21.3 Frequency response 21.4 Bode plots 21.5 Performance specifications 21.6 Stability Summary Problems 22 Closed-loop controllers Chapter objectives 22.1 Continuous and discrete control processes 22.2 Terminology 22.3 Two-step mode 22.4 Proportional mode 22.5 Derivative control 22.6 Integral control 22.7 PID controller 22.8 Digital controllers 22.9 Control system performance 22.10 Controller tuning 22.11 Velocity control 22.12 Adaptive control Summary Problems 23 Artificial intelligence Chapter objectives 23.1 What is meant by artificial intelligence? 23.2 Perception and cognition 23.3 Reasoning 23.4 Learning Summary Problems Conclusion 24 Mechatronics systems Chapter objectives 24.1 Mechatronic designs 24.2 Case studies 24.3 Robotics Summary Problems and assignments Appendices A The Laplace transform A.1 The Laplace transform A.2 Unit steps and impulses A.3 Standard Laplace transforms A.4 The inverse transform Problems B Number systems B.1 Number systems B.2 Binary mathematics B.3 Floating numbers B.4 Gray code Problems C Boolean algebra C.1 Laws of Boolean algebra C.2 De Morgan laws C.3 Boolean function generation from truth tables C.4 Karnaugh maps Problems D Instruction sets E C library functions F MATLAB and SIMULINK F.1 MATLAB F.2 SIMULINK G Electrical circuit analysis G.1 D.C. circuits G.2 A.C. circuits Further information Answers Index

Micromechatronics: Modeling, Analysis, and Design with MATLAB

Abstract: INTRODUCTIONMechatronic and Micromechatronic SystemsMechatronics DefinitionDesign of Mechatronic and Micromechatronic SystemsMechatronics: Emerging Trends in Engineering, Science, and TechnologyMechatronics PerspectivesReferencesMODELING OF MECHATRONICS SYSTEMMathematical Models and Mechatronic Systems DynamicsElectromagnetics and ElectromechanicsElectromagnetics Fundamentals and ApplicationsMaxwell's EquationsReferencesCONTROL OF MECHATRONICS SYSTEMSContinuous-Time and Discrete-Time Mechatronic SystemsMultivariable Continuous- and Discrete-Time Mechatronic Systems Modeled Using Linear Differential and Difference Equations: Basic FundamentalsAnalog Control of Mechatronic SystemsThe Hamilton-Jacobi Theory and Optimal Control of Mechatronic SystemsTime-Optimal Control of Mechatronic SystemsSliding Mode Control in Mechatronic SystemsFeedback Linearization and Control of Permanent-Magnet Synchronous MotorsControl of Nonlinear Mechatronic SystemsDigital Control of Mechatronic SystemsReferencesINTEGRATED CIRCUITS, POWER ELECTRONICS, AND POWER CONVERTERSIntegrated CircuitsCircuits ElementsPower Amplifiers and Power ConvertersSwitching ConvertersHigh-Frequency Switching ConvertersReferencesDIRECT-CURRENT MINISCALE MACHINESDirect-Current Mini- and Microscale MachinesPermanent-Magnet Direct-Current MachinesModeling and Analysis of an Open-Loop Mechatronic System: Permanent-Magnet Direct-Current Generators Driven by Permanent-Magnet Direct-Current MotorsMechatronic Systems With Permanent-Magnet DC MachinesAnalysis and Design of a Mechatronic System with Experimental VerificationReferencesINDUCTION MINI- AND MICROSCALE MACHINESVoltage, Flux Linkages, and Torque Equations for Three-Phase Induction Machines: Dynamics in the Machine VariablesMathematical Models of Three-Phase Mini- and Microscale Induction Motors in the Arbitrary, Stationary, Rotor and Synchronous Reference FramesPower Converters and Control of Induction MotorsReferencesSYNCHRONOUS MINI- AND MICROSCALE MACHINESSynchronous Reluctance MotorsPermanent-Magnet Synchronous MachinesStepper MotorsReferencesMINI- AND MICROELECTROMECHANICAL AND MECHATRONIC SYSTEMSIntroductionBiomimetics and Its Application to MicromachinesControl of MEMSSynthesis of Micromachines: Synthesis and Classification SolverFabrication of MEMS and Microelectromechanical Motion DevicesReferencesELECTROACTIVE AND MAGNETOACTIVE MATERIALSIntroductionPiezoelectricityPiezoelectric PhenomenaFerroelectric PerovskitesFabrication of Electroactive CeramicsCommon Piezoelectric CeramicsElectrostrictive CeramicsPiezopolymersMagnetostrictive MaterialsNew Developments in Electroactive and Magnetoactive MaterialsSummary and ConclusionsReferencesINDUCED STRAIN ACTUATORSIntroductionActive-Material Induced-Strain ActuatorsConstruction of Induced-Strain ActuatorsModeling of Induced-Strain ActuatorsPrincip

Modelling of physical systems for the design and control of mechatronic systems

Abstract: Mechatronic design requires that a mechanical system and its control system be designed as an integrated system. This contribution covers the background and tools for modelling and simulation of physical systems and their controllers, with parameters that are directly related to the real-world system. The theory will be illustrated with examples of typical mechatronic systems such as servo systems and a mobile robot. Hands-on experience is realised by means of exercises with the 20-sim software package (a demo version is freely available on the Internet). In mechatronics, where a controlled system has to be designed as a whole, it is advantageous that model structure and parameters are directly related to physical components. In addition, it is desired that (sub-)models be reusable. Common block-diagram- or equation-based simulation packages hardly support these features. The energy-based approach towards modelling of physical systems allows the construction of reusable and easily extendible models. This contribution starts with an overview of mechatronic design problems and the various ways to solve such problems. A few examples will be discussed that show the use of such a tool in various stages of the design. The examples include a typical mechatronic system with a flexible transmission and a mobile robot. The energy-based approach towards modelling is treated in some detail. This will give the reader sufficient insight in order to exercise it with the aid of modelling and simulation software (20-sim). Such a tool allows high level input of models in the form of iconic diagrams, equations, block diagrams or bond graphs and supports efficient symbolic and numerical analysis as well as simulation and visualisation. Components in various physical domains (e.g. mechanical or electrical) can easily be selected from a library and combined into a process that can be controlled by block-diagram-based (digital) controllers. This contribution is based on object-oriented modelling: each object is determined by constitutive relations at the one hand and its interface, the power and signal ports to and from the outside world, at the other hand. Other realizations of an object may contain different or more detailed descriptions, but as long as the interface (number and type of ports) is identical, they can be exchanged in a straightforward manner. This allows top–down modelling as well as bottom–up modelling. Straightforward interconnection of (empty) submodels supports the actual decision process of modelling, not just model input and output manipulation. Empty submodel types may be filled with specific descriptions with various degrees of complexity (models can be polymorphic) to support evolutionary and iterative modelling and design approaches. Additionally, submodels may be constructed from other submodels in hierarchical structures. An introduction to the design of controllers based on these models is also given. Modelling and controller design as well as the use of 20-sim may be exercised in hands-on experience assignments, available at the Internet (http://www.ce.utwente.nl/IFACBrief/). A demonstration copy of 20-sim that allows the reader to use the ideas presented in this contribution may be downloaded from the Internet (http://www.20sim.com).

Using an integrated platform for learning/spl trade/ to reinvent engineering education

Abstract: The most pressing and critical needs for engineering graduates in 2013 and beyond are to be natural innovators who are able to integrate their knowledge to solve complex engineering problems. This paper introduces an integrated platform for learning/spl trade/ as a solution to meet these needs. The platform for learning provides an environment for innovation, while integrating a curriculum into a coherent whole.

New guideline vdi 2206 - a flexible procedure model for the design of mechatronic systems

Abstract: Mechatronics the synergetic integration of different engineering domains such as mechanics, electronics and information technology can create new products and stimulate innovative solutions. In order to yield this potential, experts from the involved domains need a mechatronic-specific guideline for the systematic design of mechatronic systems. In industry guidelines are unfortunately not accepted in the intended way; adaptability to the present design situation is missed. The contribution presents a flexible procedure model taking the specific needs of mechatronic design into account and offering elements for individual adaptation. The procedure model is part of the new guideline VDI 2206.

Model-driven development of reconfigurable mechatronic systems with MECHATRNOIC UML

Abstract: Today, advanced technical systems are complex, reconfigurable mechatronic systems where most control and reconfiguration functionality is realized in software. A number of requirements have to be satisfied in order to apply the model-driven development approach and the UML for mechatronic systems: The UML design models must support the specification of the required hard real-time event processing. The real-time coordination in the UML models must embed the continuous control behavior in form of feedback-controllers to allow for the specification of discrete and continuous hybrid systems. Advanced solutions further require the dynamic exchange of feedback controllers at run-time (reconfiguration). Thus, a modeling of rather complex interplays between the information processing and the control is essential. Due to the safety-critical character of mechatronic systems, the resulting UML models of complex, distributed systems and their real-time behavior must be verifiable in spite of the complex structure and the embedded reconfigurable control elements. Finally, an automatic code synthesis has to map the specification correctly to code. In this paper, we will present our Mechatronic UML approach, which fulfills all these requirements. The approach is motivated and illustrated by means of a running example.

MARVEL: A Mixed Reality Learning Environment for Vocational Training in Mechatronics

Abstract: Mechatronics is an area that merges multidisciplinary knowledge coming from mechanical engineering, electronics and computer technology. Vocational training in mechatronics requires the teaching of ‘multi-skills’ in various learning contexts, as well as a good blend of learning in the classroom and practical training in work surroundings. This paper presents the contribution of MARVEL to meet these target requirements. The aim of the MARVEL project is to implement and evaluate learning environments for mechatronics in vocational training, allowing students ubiquitous access to physical workshops and laboratory facilities from remote places. The project will cover concepts that merge real and virtual as well as local and remote worlds in real time. We describe a concept of experiential learning which proposes a ‘mix’ of virtual learning sessions (remote labs, simulations) in combination with learning in real labs or even at the workplace.

Faculty of Electrical Engineering

Abstract: The Faculty of Electrical Engineering was founded in 1953 as one of three faculties of the Railway College in Prague, and was re-established during restructuralization changes in 1992. At present the process of faculty development still continues and some new branches of educational, research and technological development complete the traditional educational orientations, namely: information technologies, power electronic systems and modern methods of electric networks control. The interdisciplinary branches as for example mechatronics, telecommunication management and biomedicine are also in progress.

Systems Engineering and Engineering Management: Keys to the Efficient Development of Products and Services

Abstract: :Because of globalization and technology, the roles of the traditional engineering manager are changing. All practicing engineering managers must be able to understand the tools available in order to develop innovative products and solutions that meet the customer's demands. Systems engineering (SE) is a relatively new discipline that is focused on developing requirements and functional and operational architectures of complex systems. In the 21st century market, engineers are becoming a profession of integrators of commercially existing components manufactured outside the U.S. This article presents an overview of SE and the overlap, differences, and synergies that are associated with the traditional engineering management functions.

A mechatronic sensing system for vehicle guidance and control

Abstract: Magnetic sensing is used for control and guidance in intelligent transportation systems (ITS). This includes vehicle applications such as lane-keeping in intelligent cruise control as well as driver assistance in highway maintenance functions such as snow removal. This paper presents a new mechatronic magnetic sensing system for ITS. The new system has several advantages both in terms of its hardware design and its underlying reference detection algorithms, providing a significant improvement in performance, maintainability, and upgradability over existing systems. It is a mechatronic system in that it combines mechanical position sensing with electronics implementation of the hardware and the underlying algorithms.

Development of a mechatronics laboratory-eliminating barriers to manufacturing instrumentation and control

Abstract: The integration of electronics, sensors, actuators, and microprocessor technology into manufacturing processes and consumer products is requiring engineers to possess greater mechatronics knowledge. Students must be encouraged to embrace a mechatronics perspective through combined classroom and "hands-on" laboratory activities to develop critical systems skills for multidisciplinary teams. In this paper, laboratory experiments and their accompanying learning objectives are introduced and discussed which highlight key industrial technologies and establish a foundation for skill achievement.

Mechatronics design and kinematic modelling of a singularityless omni-directional wheeled mobile robot

Abstract: This paper focuses on the kinematic modelling, mobility analysis and mechatronics design of a singularityless omni-directional wheeled mobile robot (OWMR). To achieve a singularityless motion, firstly, the kinematic model of a wheeled mobile robot (WMR), a platform equipped with three omni-directional wheels (ODW), is formulated. Based on this model, a smooth trajectory and control command for the 3-wheel OWMR can be obtained. The analysis on the mobility of a WMR is carried out using the functional matrix. It is shown that a WMR with three ODWs has a mobility of three. A WMR with three ODWs was designed and prototyped. Experimental results have been employed to verify the theoretical conclusions.

Computer aided design of mechatronic systems

Abstract: Any successful company must react quickly to changing trends in the market. New products should be designed and manufactured quicker and cheaper than counter partners do. A shorter design time provides a distinct competitive advantage. The paper describes two approaches towards designing interdisciplinary mechatronic systems: the first is visual modelling with the UML, the second is physical modelling with Modelica.

Robotic teachers' assistants

Abstract: In this article, an overview of low-cost robots, discussing basic characteristics, applications, and motivation for future success, is presented. The importance of low-cost robots can be recognized by the fact that they can be available everywhere at different levels of cost and complexity. Therefore, the aim of this article is to suggest the use of low-cost robots both for teaching and investigation to any teacher or researcher in any institution with the possibility to achieve significant results. Particular attention has been addressed to research and teaching activities in university institutions with the aim to stress the fundamental role of engineers' formation in robotics by using low-cost robots with novel solutions. Examples of a successful activity using low-cost robots have been illustrated as those developed at the Laboratory of Robotics and Mechatronics (LARM), Cassino, Italy.

Project-based High School Mechatronics Course*

Abstract: Mechatronics is a complex, highly technical, multidisciplinary subject that involves the design and manufacture of integrated products. In order to teach it properly in a course, student teams have to engage in designing a product. Due to the complicated nature of mechatronic products, such a project further complicates the administration of mechatronics courses. This paper presents a design of a course for non-technical high school students. The design includes elements that motivate students to devote extra hours for technology study; it leads students to successfully design products through managing a team project with little budget and scarce teaching resources. We present the structure of the course and its evaluation. We conclude that such a course can be taught to non-technical university students thus bringing them closer to understanding technology and engineering.

Collaborative Learning in Mechatronics with Globally Distributed Teams

Abstract: The subject of mechatronics has been taught at the Mechatronics Lab, Royal Institute Of Technology (KTH) since 1984. The educational model is based on the four didactical questions: the questions o ...

Mechatronics for Engineering Education: Undergraduate Curriculum*

Abstract: Mechatronics is a synergistic combination of electrical and electronic engineering, computer technology and control engineering with mechanical engineering that forms a crucial part in the design, manufacture and maintenance of a wide range of engineering products and processes. Engineering education with a mechatronics curriculum provides the necessary core technologies for the future engineers with multi-disciplinary background. This paper outlines the mechatronic engineering curriculum of an undergraduate degree at the City University of Hong Kong, which aims to provide the integrated learning experience.

Simulation environment for designing the dynamic motion behaviour of the mechatronic system machine tool

Abstract: Machine tools consist of mechanical and electronic components and software, and thus constitute mechatronic systems. To make sure that they work reliably in the overall system these different components have to be designed in coordination. This process is complicated by the fact that virtual prototyping is becoming increasingly important in machine tool design and every development department employs different software tools, e.g. finite element method, multibody system simulation, computer aided control engineering software, etc. Moreover, every department has its own method of setting up models within these programs. The result is that various sets of data are produced that are mutually incompatible due to different modelling methods. This paper describes a new method for setting up a model for the mechatronic system machine tool, with special emphasis on the design of its motion dynamics. The main objective of the method is to standardize the model set-up within the different simulation tools w...

A Design-Oriented Undergraduate Curriculum in Mechatronics Education*

Abstract: Mechatronics is bringing about an industrial paradigm shift with its multidisciplinary integrated approach to product design and development. It is poised to become the key enabling technology to use for gaining a competitive edge in the modern manufacturing era. The development of mechatronics will therefore be crucial to the continued competitiveness of national economies. In order to fulfil the changing requirements of industry, many universities worldwide have introduced course revisions and new courses in mechatronics. In the present paper, an attempt has been made to redefine mechatronics and synthesize various mechatronics programs being conducted all over the world. The proposed curriculum envisions mechatronics as a new engineering design strategy, perceives it as a systemic business philosophy and emphasizes interdisciplinary communication, team effort and industrially relevant project-based learning.

Applying Agents for Engineering of Industrial Automation Systems

Abstract: Designing, operating and maintaining industrial plants require extensive and complex engineering processes An integrated engineering process considering all different aspects, data and workflow of plant automation design as well as interoperability to other systems is the key to more efficiency and lower costs of engineering tasks in the plant life cycle There exists no comprehensive and satisfying solution to this problem today However, an agent-oriented view can lead to fundamentally new and promising approaches to an integrated plant engineering process The goal of this paper is to clearly identify the specific goals and challenges in engineering industrial plants and to show that agents are a beneficial approach to meet them To this end, an agent-oriented solution for integrated engineering of automation systems is presented, applying the advantages of agent concepts while considering the constraints of existing automation structures

A hybrid systems approach toward modeling and dynamical simulation of dextrous manipulation

Abstract: This paper presents an approach toward comprehensive discrete-continuous modeling and accurate dynamical simulation of dextrous manipulation. The resulting hybrid-state model integrates time-driven mechanical features of manipulation systems as well as their discrete-event aspects resulting from varying contact situations. It can easily be embedded into sophisticated simulation environments. A MATLAB implementation serves us as a tool for mechatronic control design for grasping systems. Results from dynamical simulations of a four-fingered hand grasping and manipulating an object demonstrate the efficiency and high accuracy of our approach.

Towards a general tool for mechatronic design

Abstract: This paper is a report on our initial attempt to develop a general tool and explore a non-traditional approach to mechatronic design, which emphasizes simultaneous mechanical and control design. The approach is centered around our novel GA-based design methodology that is specially developed for exploring possible design alternatives in early design stages with a particular emphasis on interdisciplinary design. The suggested methodology, as applied to mechatronics, transforms the common GA-based search in the space of individual solutions into a search that relies heavily on exploration of the space of mechatronic sub-concepts. In addition to demonstrating the validity of our proposed technique to mechatronics, we show the relevance of our methodology to control design at large.