scispace - formally typeset
Search or ask a question

Showing papers on "Mechatronics published in 2004"


Journal ArticleDOI
TL;DR: The background and tools for a port-based approach to integrated modeling and simulation of physical systems and their controllers, with parameters that are directly related to the real-world system, thus improving insight and direct feedback on modeling decisions.

79 citations


Journal ArticleDOI
TL;DR: The requirements of the modeling language and software tool for simulation of mechatronic systems are stated and an experience of use of DYMOLA with Modelica language in the simulation of a complete machining center is described.

71 citations


Journal ArticleDOI
TL;DR: In this article, the design for control (DFC) approach is proposed to handle the complexity of the dynamic model of a parallel structure robot, which is more complex than a serial one.

68 citations


Journal ArticleDOI
TL;DR: An approach for the modelling of the evaluation process in the conceptual design phase is presented, where the generated candidate solutions are evaluated by calculating a score that is based on specific criteria that are presented as elements of a vector.

61 citations


Proceedings Article
01 Jan 2004
TL;DR: The paper presents a concept for structuring and designing reconfigurable controller systems that requires the resulting software along with the technical system to show a predictably correct behavior in spite of networking, reconfiguration, and integration of procedures from artificial intelligence.
Abstract: Self-optimizing mechatronic systems are based on intrinsic controller systems whose complexity by far exceeds that of currently available systems. In addition to procedures taken from artificial intelligence, procedures for a reconfiguration by means of appropriate design methods have to be integrated to fully implement self-optimization features. Special importance falls to a networking of such complex controller systems for the support of collaborative and emergent self-optimization. One main challenge lies in the safety-critical nature of the systems that requires the resulting software along with the technical system to show a predictably correct behavior in spite of networking, reconfiguration, and integration of procedures from artificial intelligence. The paper presents a concept for structuring and designing reconfigurable controller systems.

51 citations


Dissertation
13 May 2004
TL;DR: A master's project of this scope and complexity is far beyond the ability of a single person in a time frame of a year or so, and I humbly acknowledge the fact that without a huge amount of help and support from my teammates, colleagues, and family, I could not have gotten so far so fast.
Abstract: To my sons, Brannon and Josh iii ACKNOWLEDGEMENTS I am grateful to many people for helping make this project a success. A master's project of this scope and complexity is far beyond the ability of a single person in a time frame of a year or so, and I humbly acknowledge the fact that without a huge amount of help and support from my teammates, colleagues, and family, I could not have gotten so far so fast. helper from the most difficult technical situations to the most mundane tasks. Matt and J.D. brought a wealth of skills to the team, and I am honored to have been able to work with them. I would also like to thank Dr. Wayne Book, for his wisdom, experience, guidance, and support. Without Dr. Book this project could not have possibly begun in the first place. If ever I was veering off down a dead-end path, he pointed me back in the right direction by giving me suggestions or insight that only comes with the extensive knowledge and experience. I am grateful and honored to have been able to work for him. Dave Knight, and Derek Eagles at John Deere for donating the tractor, backhoe, extra parts, and for their technical expertise. Thanks go to Randy Bobbitt at Sauer-Danfoss for helping us pick the right valve, and to Doug Hedrick for donating the valves. Thanks go to Tim Jordan and Mike Bouts at Balluff for donating the position sensors and helping us make the right choice. Thanks go to Bill Steyer and Jim Raspberry at Georgia Hydraulic Cylinders for donating both time and material by making us custom cylinders. Thanks also I would also like to thank my two sons, Brannon and Josh, for patiently waiting for me to finish grad school while living far away from their family. I would also like to thank my iv parents, Sam and Candy, for their encouragement and belief in me. Finally, but certainly not least, I would like to thank my fiancee, Tami, for her love, support, faith, and encouragement. Not only did she encourage me to go to grad school, but in times of frustration and confusion she always seemed able to give me the right boost. I also owe her a debt of gratitude for putting up with my obsession with building the haptic backhoe, from times when I was focused and consumed, to …

44 citations


Journal ArticleDOI
TL;DR: The interfaces between specialised software packages in general are classed, some historical development of the interfacing are mentioned, and the examples of the implemented couplings between the Multibody System codes and Computer Aided Control Engineering tools are discussed.
Abstract: The role of Computer Aided Engineering in vehicle development has been significantly increased during the last decade. Specialised simulation tools became very complex, however, growing demands on complexity and particularly interdisciplinarity of vehicles and their simulation models have led to a number of approaches trying either to develop multidisciplinary simulation tools or to connect various specialised simulation tools by interfaces. This paper addresses some aspects of interconnection of the specialised simulation tools as one possibility for simulating complex mechatronic vehicle systems. It classifies the interfaces between specialised software packages in general, mentions some historical development of the interfacing and further discusses the examples of the implemented couplings between the Multibody System codes and Computer Aided Control Engineering tools. Finally, the performance of selected interfaces is compared on an example simulation of a controlled vehicle suspension.

42 citations


Journal ArticleDOI
TL;DR: Convergence of enabling technologies such as the Internet, communications, information technology and miniaturization technology combined with broadening applications combined with vigorous research and development of new sensors will be described.

38 citations


Journal ArticleDOI
TL;DR: In this paper, the authors present the design process of a toy school bus powered by hydrogen and highlight important design issues and pose problems that require mechatronics solutions in the field of power generation from fuel cells.

36 citations


01 Jan 2004
TL;DR: In this article, the authors discuss the actual state of industrial applications, with challenges, at Volvo Car Corporation and Volvo Aero Corporation, and present how knowledge based engineering combined with simulation methods is a development step for the product development processes.
Abstract: The objective is to present how Knowledge Based Engineering combined with simulation methods is a development step for the product development processes. In the presented work the authors discuss the actual state of industrial applications, with challenges, at Volvo Car Corporation, and Volvo Aero Corporation. Systems that combine synthesis and analysis continue to be developed and increasingly deployed and used in the entire design - evaluation loop allowing faster design iterations. The challenges of introducing these systems are seen on three different levels; technically oriented, methodological, cultural and social. Best practice is yet to be seen, and a new way of work is the probable result of introducing simulation supported KBE.

31 citations


Proceedings ArticleDOI
02 Nov 2004
TL;DR: In this paper, a human-in-the-loop system called human adaptive mechatronics (HAM) is proposed for point-to-point human manipulation in a haptic system.
Abstract: Based on a new concept of a human-in-the-loop system called human adaptive mechatronics (HAM), a system structure and its design method are shown for a haptic system. HAM is a novel intelligent machine exerting high performance by enhancing human skill and by making machine functions adapt to skill level. In this report, we deal with a point-to-point task by human manipulation. An estimation method of a human controller is proposed under an assumption such that a human controller consists of a PD and a delay-time element. An assist control that adjusts support ratio from a machine side according to the human skill is proposed. From results of experiments to beginners, it was confirmed that parameters of the operator's controller could be estimated sufficient and the human performance of manipulation was enhanced by the assistant method using estimated parameters.

01 Jan 2004
TL;DR: The approach which fulfills all requirements of real-time behavior verifiable in spite of the complex structure and the embedded continuous control elements of the RailCab research project is presented.
Abstract: Due to the safety-critical character of mechatronic systems the engineers have to face the following serious problems: The models which are used in design must enable to specify real-time behavior on basis of a semantics that allows an automatic synthesis of code which respects the specified real-time requirements. Further, mechatronic systems usually embed continuous behavior in form of feedback-controllers which leads to hybrid systems. A new field of research deals with the support of dynamic exchange of feedback controllers (reconfiguration) during design. Models have to support a complex, distributed system structure. The system’s real-time behavior must be verifiable in spite of the complex structure and the embedded continuous control elements. In this paper we will present our approach which fulfills all these requirements considering an example taken from the RailCab research project.

BookDOI
01 Jan 2004
TL;DR: Fuzzy Chip Controllers and Wireless Links in Smart Structures- Semi-Active Friction Damping of Flexible Lightweight Structures, Design of Adaptive Structures under Random Impact Conditions- Damage Detection of Structures Using Spectral Element Method- Spatial Filtering with Discrete Array Sensors and Distributed PVDF Films- Structural Health Monitoring Using Guided Ultrasonic Waves- Controllability and Asymptotic Problems in Distributed Systems- Mechatronics in Vibration Monitoring and Control
Abstract: Fuzzy Chip Controllers and Wireless Links in Smart Structures- Semi-Active Friction Damping of Flexible Lightweight Structures- Design of Adaptive Structures under Random Impact Conditions- Damage Detection of Structures Using Spectral Element Method- Spatial Filtering with Discrete Array Sensors and Distributed PVDF Films- Structural Health Monitoring Using Guided Ultrasonic Waves- Controllability and Asymptotic Problems in Distributed Systems- Mechatronics in Vibration Monitoring and Control

Journal ArticleDOI
TL;DR: The key challenge for mechatronics course designers is seen as that of ensuring an appropriate balance between depth and breadth while providing opportunities to enable students to practise integration as discussed by the authors, and this in relation to a number of mechatronic themes.
Abstract: Despite a world-wide interest in mechatronics education, there is no clear and consistent understanding of what mechatronics is, nor how, and at what level, it should be taught The key challenge for mechatronics course designers is seen as that of ensuring an appropriate balance between depth and breadth while providing opportunities to enable students to practise integration The paper discusses this in relation to a number of mechatronic themes Factors influencing the design, structure and content of a mechatronics programme are discussed and suggestions made as to the possible core content of such a programme

Journal ArticleDOI
TL;DR: In this paper, the authors describe the design and development of an autonomous mobile vehicle that can exhibit intelligent behaviors such as obstacle avoidance, and response to light and sonar inputs so as to exist and behave as an intelligent entity that accommodates its changing environment.

01 Jan 2004
TL;DR: A magnetic recording medium having a non-magnetic base overlaid with a magnetic layer containing ferromagnetic particles and the binder is composed of a nitrocellulose and a polyurethane resin.


Proceedings ArticleDOI
26 Jun 2004
TL;DR: How and why the holonic control architecture ADACOR is a typical architecture that exhibits the real meaning of the collaborative manufacturing management concept is discussed.
Abstract: The new enterprise organizations, such as virtual enterprise and smart enterprise, require the usage of collaborative automation approaches, addressing the flexibility and dynamic re-configurability. Collaborative automation is a result of the integration of emerging technologies and paradigms like smart agent-based control technology, mechatronics, communication and information. This paper reviews the paradigms evolution from CIM to the collaborative manufacturing management and discusses how and why the holonic control architecture ADACOR is a typical architecture that exhibits the real meaning of the collaborative manufacturing management concept

Proceedings ArticleDOI
02 Nov 2004
TL;DR: In this paper, a method to quantify the skill-level of operator's manipulation of a robot is proposed by using a discrete state-transition model, which is used to obtain experimental data for evaluation of the proposed method, a data acquisition system for a human-machine system is devised.
Abstract: In this paper, quantification of a skill-level, which is a significant item to achieve the human adaptive mechatronics (HAM), is considered. One method to quantify the skill-level of operator's manipulation of a robot is proposed by using a discrete state-transition model. In order to obtain experimental data for evaluation of the proposed method, a data acquisition system for a human-machine system is devised. The system consists of the telemanipulation of a legged robot, the telecontrol navigator, an eye-gaze measurement system, a recording program of a mouse action and a 3D-position sensor. From analysis using the experimental data, it could be confirmed that checking of a combination of different type transition states has the possibility to quantify the operator's skill and to assist his manipulation.

Proceedings ArticleDOI
26 Jun 2004
TL;DR: Computer aided design and engineering tools for closed loop control systems that are currently used by control engineers for design and control of centralized automatic control systems are analyzed regarding their capabilities and new FB types are identified to cover the core functionality that is necessary for the implementation in closedloop control systems.
Abstract: A wide range of industrial processes and applications are controlled by closed loop control systems. Such processes consist of the plant that needs to be controlled and of controlling elements such as actuators, sensors, regulators or controllers. Due to decreasing hardware costs controllers are more and more integrated into sensors, actuators or other field devices. The result is increased modularity, scalability and more intelligence of the control networks that can be built out of these new mechatronic devices. To be able to program such systems in a convenient and intuitive way the function block (FB) oriented IEC 61499 standard for modeling and engineering of distributed industrial process measurement and control systems was developed. First prototypes were successfully applied to the area of distributed discrete controllers. For the area of closed loop control there seems to be a natural link between block diagram descriptions of closed loop control elements and the FB concepts of IEC 61499. But up to now efforts for mapping and implementing the wide range of block diagram element of closed loop control theory to IEC 61499 constructs were outstanding. The goal of this paper is to investigate the possibilities for applying the concept of the IEC 61499 standard to the field of closed loop control. Therefore, computer aided design and engineering tools for closed loop control systems that are currently used by control engineers for design and control of centralized automatic control systems are analyzed regarding their capabilities. Based on this information, new FB types are identified to cover the core functionality that is necessary for the implementation in closed loop control systems. Based on this analysis a library of FB types for closed loop control applications was developed and applied. The usage and limitations of IEC 61499 for distributed closed loop control is demonstrated on a real experiment - the control of a challenging seesaw problem

Journal ArticleDOI
01 Mar 2004
TL;DR: This example is a mechatronic design taken from the automotive industry and illustrates the rapid-prototyping procedure of real-time-critical control laws, based on an object-oriented structuring allowing not only central control units but also distributed control units as needed by today's designs.
Abstract: Rapid prototyping of complex systems embedded in even more complex environments raises the need for a layered design approach. Our example is a mechatronic design taken from the automotive industry and illustrates the rapid-prototyping procedure of real-time-critical control laws. The approach is based on an object-oriented structuring allowing not only central control units but also distributed control units as needed by today's designs. The implementation of control laws is a hardware-in-the-loop simulation, refined in steps and reducing the simulation part at every one of these. On the lower level, common platforms, such as FPGAs, microcontrollers or specialized platforms, can be instantiated.

Journal ArticleDOI
TL;DR: The strong topology exploration capability of genetic programming is exploited to create and evolve structures representing mechatronic systems and the use of ERCs (ephemeral random constants) in genetic programming allows for multiple solutions, allowing the designer more latitude in choosing a model to implement.
Abstract: To realize design automation of mechatronic systems, there are two major issues to be dealt with: open-topology generation of mechatronic systems and simulation or analysis of those models. For the first issue, we exploit the strong topology exploration capability of genetic programming to create and evolve structures representing mechatronic systems. With the use of ERCs (ephemeral random constants) in genetic programming, we can evolve the sizing of mechatronic system components together with the system structures simultaneously. The second issue, simulation and analysis of those system models, is made more complex when the systems are mixed-energy-domain systems. We take advantage of bond graphs as a tool for multi- or mixed-domain modeling and simulation of mechatronic systems. Because there are many considerations in mechatronic system design that are not completely captured by a bond graph, it is beneficial to generate multiple solutions, allowing the designer more latitude in choosing a model to im...

Journal ArticleDOI
TL;DR: In this article, the authors provide a discussion into the type of control systems found in modern automotive vehicles and discuss the need for high calibre, multi-disciplined engineers.
Abstract: As the complexity of automotive vehicles increases, so does the need for high calibre, multi-disciplined engineers. This paper provides a discussion into the type of control systems found in modern...

Proceedings ArticleDOI
03 Jun 2004
TL;DR: This paper presents an architecture that promotes model integration not only in implementation space artifacts but also during the early analysis and design phases of the development process, called model integrated mechatronics (MIM).
Abstract: The traditional approach for the development of manufacturing systems considers the constituent parts of the system i.e. mechanical, electronic and software, to be developed independently and then integrated to form the final system. This approach is inappropriate for the complexity and the dynamics of today's systems. In this paper, we present an architecture that promotes model integration not only in implementation space artifacts but also during the early analysis and design phases of the development process. This architecture is the heart of the proposed model integrated paradigm that we call model integrated mechatronics (MIM). The MIM architecture was utilized to define "Archimedes ", a system platform that supports the engineer through a methodology, a framework and a set of tools to automate the development process of agile mechatronic manufacturing systems.

Journal ArticleDOI
TL;DR: The key issue of the proposal is the facility to model information flow formally, by the capture of the requirements into Elementary Petri Nets, and the achievement of a proper set of viewpoints enrolled in information system projects.

Journal Article
TL;DR: In this article, the authors proposed a requirement validation method suitable to a life cycle represented with the Unified Process and addressed to the specification and design of information systems, where the key issue is the facility to model information flow formally, by the capture of the requirements into elementary Petri Nets.

Dissertation
01 Jan 2004
TL;DR: In this article, a model simplification approach has been applied to the model of the mechatronic protection valve, which is a part of the new generation air management systems applied in pneumatic brake systems of commercial vehicles.
Abstract: This dissertation deals with a mechatronic protection valve that is a part of the new generation air management systems applied in pneumatic brake systems of commercial vehicles. The main goal of the thesis is to elaborate on the dynamic modelling, to prepare and apply a model simplification approach, to identify the unknown model parameters and to develop a pressure limiting controller design using the nonlinear model of the mechatronic protection valve. It has been shown that the mechatronic protection valve can be described as a mixed thermodynamical, mechanical and electro-magnetic system. Its dynamic model is built and verified by using a systematic modelling methodology. The state equations of the nonlinear dynamic model possesses a special algebraic structure. The model exhibits hybrid or switching behavior caused by different included elements with inherently discrete behavior. Having performed a systematic modelling procedure the obtained model for control design purpose has been considered for model simplification. A systematic model simplification approach has been developed. The simplification process has been applied to the model of the mechatronic protection valve. The size of the state vector has been reduced and the structure of the algebraic equation has been simplified considerably. It has been shown that the input and output vector structures have been invariant under the simplification process, moreover all retained system variable entries preserved their physical meaning. The unknown model parameters have been identified by using measured step response functions and the simplified model containing the unknown parameters in nonlinear form. The parameters have been identified by solving the general parameter estimation problem with L2 prediction error norm utilizing the simplex direct search optimization method. The identified model has been validated against independent measurements. It has been shown that it is able to describe the dynamic behavior of the modelled system within the predefined tolerance limit. When performing model analysis, it has been proved that the model can be rewritten into standard input affine form moreover it has constant degrees of freedom regardless its hybrid modes. The analysis of the hybrid reachability has justified that all the hybrid modes, covered by the operation domain of a pressure limiting controller, can be triggered by the model input. In addition, it has been proved that the simplified model is structurally state observable, state controllable and disturbance observable, moreover it has a maximum relative degrees. The stability analysis has shown that the open loop system is locally stable in both of the two kind of characteristic operating points of a pressure limiting controller. Based on the control aims and the input signal constraints a bang–bang controller has been developed. Since some key disturbance signals are not measurable, a disturbance observer has been added to the controller. The bang–bang controller includes a feedforward– and a feedback module. For verification of the pressure limiting control computer simulations have been utilized.

Journal ArticleDOI
TL;DR: The architecture and design framework for a multiprocessor system on chip (SoC) solution that is being developed for adaptive, high-performance, embedded real-time control applications minimises the interdisciplinary design efforts typical to mechatronic systems design.

01 Jan 2004
TL;DR: A new approach for a method which can support the process of domain allocation is presented and it is found, that the interfaces between the electrical and the mechanical domain are of major importance for domain allocation.
Abstract: The appropriate allocation of the different domains (mechanics, electronics and software) to the functions within a mechatronic product is one of the essential problems in mechatronics. Nevertheless, an analysis of existing methods for the development of mechatronic systems shows that domain allocation is not sufficiently supported. In order to develop a new allocation method, the interfaces between the different domains as well as the influencing factors are analyzed. It is found, that the interfaces between the electrical and the mechanical domain are of major importance for domain allocation. Based on the results of the analysis, a new approach for a method which can support the process of domain allocation is presented.

Journal ArticleDOI
TL;DR: In this article, a new technology for production of low-cost micromechanical devices is proposed, based on concepts already known in conventional mechanics, used to produce a number of equipment of smaller sizes generation after generation.