Showing papers on "Mechatronics published in 2006"

System Dynamics: Modeling and Simulation of Mechatronic Systems

Abstract: The standard in the field, updated and revised for today's complex mechatronic systemsMore than ever before, engineers are responsible for the total system design of the products they create. While traditional modeling and simulation methods are useful in the design of static components, they are of little assistance to those charged with designing mechatronic systems comprising a variety of technologies and energy domains. Engineers who design such complex systems need more sophisticated tools to help them think and visualize on a dynamic systems level. This book arms them with one of the most important of those tools-bond graph modeling, a powerful unified graphic modeling language.System Dynamics, Third Edition is the only comprehensive guide to modeling, designing, simulating, and analyzing dynamic systems comprising any number of electrical, mechanical, hydraulic, pneumatic, thermal, and magnetic subsystems. While it has been updated and expanded to include many new illustrations, expanded coverage of computer simulation models, and more detailed information on dynamic system analysis, it has lost none of the qualities that have helped make it the standard text/reference in the field worldwide. With the help of more than 400 illustrations, the authors demonstrate step by step how to:* Model a wide range of mechatronic systems using bond graphs* Experiment with subsystem models to verify or disprove modeling decisions* Extract system characteristics and predict system behaviors* Translate graphical models into complex mathematical simulations* Combine bond graph modeling with state-of-the-art software simulation toolsSystem Dynamics, Third Edition is an indispensable resource for practicing engineers as well as students of mechanical, electrical, aeronautical, and chemical engineering.

An agent-based intelligent control platform for industrial holonic manufacturing systems

Abstract: New revolutionary manufacturing paradigms, which take advantage of the newest emerging mechatronics, information, and communication technologies, and integrate them in a highly dynamic and agile economic, technical, and organizational manufacturing environment, are being researched and developed since the last decade of the 20th century. This new generation of manufacturing systems is referenced as intelligent manufacturing systems (IMS), and both the "holonic manufacturing system" (HMS) and the "agent-oriented manufacturing system" paradigms have been presented in recent years as the basis for making such systems a reality. This paper reports on the design and realization of an agent-based intelligent control system for industrial manufacturing systems, which covers both conventional mechatronics equipment and embedded control agents. The agent-based control software components are implemented as Windows NT services and logic control programs and interfaced via distributed component object model (DCOM) and Ethernet. Results of the application in an industrial manufacturing environment are used to show the effectiveness of the proposed "Holonic" approach.

Hard Disk Drive: Mechatronics and Control

Abstract: The hard disk drive is one of the finest examples of the precision control of mechatronics, with tolerances less than one micrometer achieved while operating at high speed. Increasing demand for higher data density as well as disturbance-prone operating environments continue to test designers' mettle. Explore the challenges presented by modern hard disk drives and learn how to overcome them with Hard Disk Drive: Mechatronics and Control.Beginning with an overview of hard disk drive history, components, operating principles, and industry trends, the authors thoroughly examine the design and manufacturing challenges. They start with the head positioning servomechanism followed by the design of the actuator servo controller, the critical aspects of spindle motor control, and finally, the servo track writer, a critical technology in hard disk drive manufacturing. By comparing various design approaches for both single- and dual-stage servomechanisms, the book shows the relative pros and cons of each approach. Numerous examples and figures clarify and illustrate the discussion.Exploring practical issues such as models for plants, noise reduction, disturbances, and common problems with spindle motors, Hard Disk Drive: Mechatronics and Control avoids heavy theory in favor of providing hands-on insight into real issues facing designers every day.

Leading Edge of Cybernics: Robot Suit HAL

Abstract: Robot Suit HAL (Hybrid Assistive Limb) is one of the realization/accomplishments of the Cybernoid Project. Cybernoids are the enhanced human-machine-information hybrid systems based on Cybernics technologies. Cybernics is a new academic research field which fused Information Technology (IT), cranial nerve science, behavioral science, robotics, system integration technology, physiology, psychology, MEMS-Technology, neuroscience, bio-system theory and so on, focusing on Cybernetics, Mechatronics, and Informatics. HAL is called as Robot suit or Bionic suit, and is the world first system to integrate Human-Machine-Information.

Industrial Robotics: Theory, Modelling and Control

Abstract: This book is a collection of 34 peer-reviewed technical papers from robotics experts from all around the world. This collection of work covers a wide range of new developments in the areas of industrial manipulator control, trajectory planning, cooperative control of multiple robot arms to accomplish a common task, inverse kinematics, vision-based feedback control of robot arms, force and compliance control, to name just a few. Robot arm developers, machine designers and mechatronics experts are sure to glean many new useful methods and techniques from this book.

Designing Embedded Systems with PIC Microcontrollers: Principles and Applications

Abstract: This book is a hands-on introduction to the principles and practice of embedded system design using the PIC microcontroller. Packed with helpful examples and illustrations, it gives an in-depth treatment of microcontroller design, programming in both assembly language and C, and features advanced topics such as networking and real-time operating systems. It is accompanied by a companion website containing copies of all programs and software tools used in the text and a 'student' version of the C complier.Designing Embedded Systems with PIC Microcontrollers: Principles and Applications is ideal for students of electronics, mechatronics and computer engineering. Engineers in industry and informed hobbyists will also find this book a valuable resource when designing and implementing both simple and sophisticated embedded systems using the PIC Microcontroller.Support material, including new and supporting information, links to useful sites, and errata, is available from the book's companion site. *Gain the knowledge and skills required for developing today's embedded systems, through use of the PIC microcontroller.*Explore in detail the 16F84A, 16F873A and 18F242 microcontrollers as examples of the wider PIC family.*Learn how to program in Assembler and C.*Work through sample designs and design ideas, including a robot in the form of an autonomous guided vehicle.*Accompanied by a CD-ROM containing copies of all programs and software tools used in the text and a 'student' version of the C complier.

The IUB Rugbot: an intelligent, rugged mobile robot for search and rescue operations

Abstract: The paper describes the IUB Rugbot, a rugged mobile robot that features quite some on-board intelligence. The robot and its software is the latest development of the IUB rescue robot team, which is active since 2001 in this research area. IUB robotics takes an integrated approach to rescue robots. This means that the development of the according systems ranges from the basic mechatronics to the high-level functionalities for intelligent behavior.

Platforms and Real Options in Large-Scale Engineering Systems

Abstract: Thesis (Ph. D.)--Massachusetts Institute of Technology, Engineering Systems Division, 2006.

Stability and Sensitivity Analysis of Fuzzy Control Systems. Mechatronics Applications

Abstract: The development of fuzzy control systems is usually performed by heuristic means, incorporating human skills, the drawback being in the lack of general-purpose development methods. A major problem, which follows from this development, is the analysis of the structural properties of the control system, such as stability, controllability and robustness. Here comes the first goal of the paper, to present a stability analysis method dedicated to fuzzy control systems with mechatronics applications based on the use of Popov's hyperstability theory. The second goal of this paper is to perform the sensitivity analysis of fuzzy control systems with respect to the parametric variations of the controlled plant for a class of servo-systems used in mechatronics applications based on the construction of sensitivity models. The stability and sensitivity analysis methods provide useful information to the development of fuzzy control systems. The case studies concerning fuzzy controlled servo-systems, accompanied by digital simulation results and real-time experimental results, validate the presented methods.

Strategic issues in sensors and smart structures

Abstract: Rapid advances have been made in recent years in the development of sensor-based technologies, which greatly expand the range and effectiveness of this application to civil, mechanical, and aerospace engineering systems. This paper attempts to overview the research conducted in recent years and the state-of-the-art. Key research topics are presented, and future strategic directions are suggested. Emerging needs for engineering application in civil infrastructure and mechatronics systems, and natural and artificial disaster mitigation are described. A review of NSF's sponsored research program activities in dynamic systems, modeling, sensing and control is also given. Strategic issues in advancing sensors and smart structural technologies and their applications are discussed. Copyright © 2005 John Wiley & Sons, Ltd.

Mechatronics Engineering The Evolution, the Needs and the Challenges

Abstract: Mechatronics should be seen to represent a synergy and fusion of technologies, and should be regarded as a philosophy supporting new way of thinking and innovation. Thus, Mechatronics engineer identifies with systems thinking, and the philosophy that lies behind it. Mechatronics represents a unifying paradigm that integrates, permeates, and comprehends fundamental and modern engineering. It concentrates on achieving the necessary synergy right through from the conceptual stages of the design process. The growth of interest in Mechatronics has identified a need for the provision of engineers whose education and training enables them to operate in an interdisciplinary manner. Efficient structure of a Mechatronics engineering degree program should integrate theory and practice of the unified paradigm of Mechatronics engineering. It should be designed to provide in-depth knowledge in the fundamentals, design, and analysis. Furthermore, implementing the engineering aspects related to utilization, operation, maintenance, management, personal and team based skills that are needed to design and produce modern day Mechatronical products and systems.

Bond Graph Modelling And Simulation Of Mechatronic Systems An Introduction Into The Methodology

Abstract: This paper introduces into a graphical, computer aided modelling methodology that is particularly suited for the concurrent design of mechatronic systems, viz. of engineering systems with mechanical, electrical, hydraulic or pneumatic components including interactions of physical effects from various energy domains. Beyond the introduction, bond graph modelling of multibody systems, as an example of an advanced topic, is briefly addressed in order to demonstrate the potential of this powerful approach to modelling mechatronic systems. It is outlined how models of multibody systems including flexible bodies can be build in a systematic manner. Keywords—Bond graph modelling, object-oriented physical systems modelling, computational causalities, forms of mathematical models, mechatronic systems, multibody systems.

Fractional Horsepower Dynamometer - A General Purpose Hardware-In-The-Loop Real-Time Simulation Platform for Nonlinear Control Research and Education

Abstract: A fractional horsepower dynamometer was developed as a general purpose hardware-in-the-loop real-time simulation platform to emulate mechanical nonlinearities such as frictions, state-dependent disturbances, etc. This lab system can be used as a research platform to test various nonlinear control schemes. This platform can also be used as a laboratory experiment for ECE5320 "Mechatronics" and ECE7330 "Nonlinear and Adaptive Control" courses at Utah State University. The novelty of this platform lies in its ability to generate an arbitrary external torque load disturbance, using a controllable hysteresis brake, to a DC motor plant. Therefore, many nonlinear systems and controls can be emulated physically. In this paper, we include some sample experimental results to show the versatility of the dynamometer in emulating nonlinearities and the effectiveness in real-time testing of advanced nonlinear control schemes.

Human adaptive mechatronics - interaction and intelligence

Abstract: Human adaptive mechatronics (HAM) is an intelligent mechanical system that adapts themselves to human skill under various environments, improves human skill, and assists the operation to achieve best performance of the human-machine system. In this new kind of human-machine system, human factor has to be taken into consideration for the motion-control design. In this paper, several topics of system theories that focus attention on the relation between human and machine are presented

Machine Tools Mechatronic Analysis

Abstract: High-speed machine tools show close interaction between the dynamic behaviour of the mechanical structure, drives, and numerical control. In order to support the designer of high-performance machines, a new analysis based on an integrated holistic mechatronic optimization technique is proposed and compared with the traditional approach. The proposed approach is applied to a three-axis milling machine for dies and mould production.

Design and evaluation of a micro-fuel-cell-based power system for a mobile robot

Abstract: A mobile robot being used for an undergraduate course in mechatronics engineering was converted from a conventional lead acid battery to a hydrogen fuelled polymer electrolyte membrane (PEM) micro fuel cell as the power source. The application of the robot is first outlined. Next, the design of the fuel-cell-based power supply system as assembled from the commercial components is described. Finally, the performance of the fuel cell is documented. The performance was found to match that of the conventional battery. An operational problem associated with the purging of water had to be solved. Although the cost of the fuel cell was 50 times that of the battery, the exercise did serve to demonstrate the potential of the technology

Sensors and Actuators in Mechatronics: Design and Applications

Abstract: From large-scale industrial systems to components in consumer applications, mechatronics has woven itself into the very fabric of modern technology. Among the most important elements of mechatronic systems are electromagnetic sensors and electromechanical actuators. Cultivated over years of industrial and research experience, Sensors and Actuators in Mechatronics: Design and Applications builds a practical understanding of the features and functions of various electromagnetic and electromechanical devices necessary to meet specific industrial requirements.This work focuses on various components that receive less attention in the available literature, such as magnetic sensors, linear and latching solenoid actuators, stepper motors, rotary actuators, and other special magnetic devices including magnetic valves and heart pumps. Each chapter follows a consistent format, working from theory to design, applications, and numerical problems and solutions. Although the crux of the coverage is design and application, the author also discusses optimization and testing, introduces magnetic materials, and shares his enlightened perspective on the social and business aspects of developing world-class technologies. Examples from mainly the automotive industry illustrate the wide variety of mechatronic devices presented.Providing a complete picture from conception to completion, Sensors and Actuators in Mechatronics: Design and Applications places critical tools in the hands of any researcher or engineer seeking to develop innovative mechatronic systems.

Mechatronics Engineering Education

Abstract: Since its emergence in the late 1960s, mechatronics has become well-established as an academic subject, and is now researched and taught at a large number of universities worldwide. The most widely ...

A Model Management and Integration Platform for Mechatronics Product Development

Abstract: Mechatronics development requires the close collaboration of various specialist teams and engineering disciplines. Developers from the different disciplines use domain-specific tools to specify and ...

Assistance control on a haptic system for human adaptive mechatronics

Abstract: Giving a natural operational feeling to a human via a haptic interface requires not only a sophisticated and intuitive mechanical design, but also an appropriate control system design. Most haptic ...

A Framework for Development and Implementation of Web service-Based Intelligent Autonomous Mechatronics Components

Abstract: In this paper, a framework to support the transition of existing (legacy) production systems to a new Intelligent Autonomous Mechatronics Components-based (IAMC) collaborative structure has been addressed. After a first overview of the key enabling technologies and methods, the authors propose integrating Web-based service-oriented architecture and a software-based framework for implementing a platform to allow collaborative production automation behaviours. As one of the major outcomes of the application of this approach at industrial level, the authors address the few hardware investments and the facilitation of integrating legacy systems. In the research and development contexts of the contribution, the authors identify some key objectives that still need to be realised and/or improved, in order to allow a broad implementation of IAMC-based collaborative automation systems in the industry.

Development of the Humanoid Robot LOLA

Abstract: This paper presents the performance enhanced humanoid robot LOLA which is currently being manufactured. Hardware design, controllers and simulation are based on ex- perience gained during the development of the robot JOHNNIE. The objective of the current research project is to realize a fast, human-like and autonomous walking motion. To enable an optimal design of the robot with respect to lightweight construction, motor and drive sizing, an appropriate simulation model is required. Dynamics simulation is a key tool to develop the hardware and control design properly. For hardware design and detailed dynamic analysis a comprehensive model including motor and gear dynamics is required, while for controller de- sign and stability analysis a simplified model for global system dynamics is sufficient. Both robots are characterized by a lightweight construction. In comparison to JOHNNIE, the new robot LOLA has a modular, multi-sensory joint design with brushless motors. Moreover, the previously purely central electronics architecture is replaced by a network of decentral joint controllers, sensor data acquisition and filtering units and a central PC. The fusion of motor, gear and sensors into a highly integrated mechatronic joint module has several advantages for the whole system, including high power density, good dynamic performance and reliability. Ad- ditional degrees of freedom are introduced in elbow, waist and toes. Linear actuators are used for the knee joints to achieve a better mass distribution in the legs.

Rapid engineering and re-configuration of automation objects aided by formal modelling and verification

Abstract: This paper is about the engineering of the information processing and control part of intelligent manufacturing systems. A number of recently developed technologies can bring qualitative benefits to the users and vendors of such systems. In particular, component distributed architectures (IEC 61499), mechatronic ontologies, object-oriented design methods (UML) and formal verification, if properly combined, can provide real plug and play of intelligent machines, and thus drastically improve the flexibility of manufacturing systems. The paper surveys important relevant works in the area of intelligent automation and presents new ideas on object-oriented development of automation systems. The ideas presented in this paper reflect current progress of the ongoing R&D project VAIAS, 'Validatable Architectures for Industrial Automation Systems'.