Showing papers on "Mechatronics published in 2007"

Multi-Agent Systems for Power Engineering Applications—Part I: Concepts, Approaches, and Technical Challenges

Abstract: This is the first part of a two-part paper that has arisen from the work of the IEEE Power Engineering Society's Multi-Agent Systems (MAS) Working Group. Part I of this paper examines the potential value of MAS technology to the power industry. In terms of contribution, it describes fundamental concepts and approaches within the field of multi-agent systems that are appropriate to power engineering applications. As well as presenting a comprehensive review of the meaningful power engineering applications for which MAS are being investigated, it also defines the technical issues which must be addressed in order to accelerate and facilitate the uptake of the technology within the power and energy sector. Part II of this paper explores the decisions inherent in engineering multi-agent systems for applications in the power and energy sector and offers guidance and recommendations on how MAS can be designed and implemented.

The DLR lightweight robot : design and control concepts for robots in human environments

Abstract: – The paper seeks to present a new generation of torque‐controlled light‐weight robots (LWR) developed at the Institute of Robotics and Mechatronics of the German Aerospace Center., – An integrated mechatronic design approach for LWR is presented. Owing to the partially unknown properties of the environment, robustness of planning and control with respect to environmental variations is crucial. Robustness is achieved in this context through sensor redundancy and passivity‐based control. In the DLR root concept, joint torque sensing plays a central role., – In order to act in unstructured environments and interact with humans, the robots have design features and control/software functionalities which distinguish them from classical robots, such as: load‐to‐weight ratio of 1:1, torque sensing in the joints, active vibration damping, sensitive collision detection, compliant control on joint and Cartesian level., – The DLR robots are excellent research platforms for experimentation of advanced robotics algorithms. Space and medical robotics are further areas for which these robots were designed and hopefully will be applied within the next years. Potential industrial application fields are the fast automatic assembly as well as manufacturing activities done in cooperation with humans (industrial robot assistant). The described functionalities are of course highly relevant also for the potentially huge market of service robotics. The LWR technology was transferred to KUKA Roboter GmbH, which will bring the first arms on the market in the near future., – This paper introduces a new type of LWR with torque sensing in each joint and describes a consistent approach for using these sensors for manipulation in human environments. To the best of one's knowledge, the first systematic experimental evaluation of possible injuries during robot‐human crashes using standardized testing facilities is presented.

Computational Science and Engineering

Abstract: Computational Science and Engineering (CSE) is the multi-disciplinary field of computer-based modelling and simulation for studying scientific phenomena and engineering designs. Modelling and simulation helps to validate theory, and makes it possible to analyse scenarios that would otherwise be too time-consuming, expensive, or dangerous to study by experiment. Data exploration helps to turn numbers into insight which is especially challenging in times of Big Data.

Hardware Synthesis of Explicit Model Predictive Controllers

Abstract: The general solution to constrained linear and piecewise linear model predictive control (MPC) has recently been explicitly characterized in terms of piecewise-linear (PWL) state feedback control. This means that a PWL controller can be precomputed using parametric programming, and the exact explicit MPC implementation amounts to the evaluation of a PWL function in the control unit. It has recently been shown that PWL function evaluation can be accelerated by searching a binary tree data structure, leading to highly efficient, accurate, and verifiable software implementation in low-cost embedded control units. In this work, we report hardware synthesis results for this type of PWL control, and show that explicit MPC solutions can be implemented in an application specific integrated circuit (ASIC) with about 20 000 gates, leading to computation times in the microsecond scale. This opens the way for the use of highly advanced control designs such as constrained MPC in small-scale industrial and consumer electronics application areas that are characterized by fast sampling or low cost, including mechatronics, microelectromechanical systems (MEMS), automotive control, power electronics, and acoustics. The main limitation of the approach is that the memory requirements increase rapidly with the problem dimensions

The Challenges of Building Advanced Mechatronic Systems

Abstract: Mechatronics is an engineering discipline integrating the fields of mechanical engineering, electrical engineering and computer science. While the word "mechatronics" already has a long history, it is only the last ten years that we see their application all around us. Cars, CD players, washing machines, railways are all examples of mechatronic systems. The main characteristic (and driving force) of recent advances is the progressively tighter coupling of mechanic and electronic components with software. This makes software engineering (together with network technology) the main computer science discipline involved in mechatronics. In this paper we survey current developments and discuss future trends in mechatronics, in particular from a software engineering point of view. The future of mechatronics will specifically see a move towards a high degree of adaptibility and self-organisation. This poses new challenges on software engineering, especially on modelling, code generation and analysis. We exemplify existing as well as future strands by a collaborative research and development project of a mechatronic rail system from the University of Paderborn.

Economic application of virtual commissioning to mechatronic production systems

Abstract: The interaction of heterogenous control hard and software plays a key role in enabling mechatronic production systems to become flexible and agile systems. Nevertheless, control software engineering still tends to be the last step within the development process. To a large extent it is carried out during the commissioning phase of the production ramp-up. On the first hand this leads to a loss of time and quality as well as to a loss of reputation and future orders on the second hand. A method that is referred to as Virtual Commissioning tries to overcome this situation. The aim is to enable control software engineering to, both take over the initiative in system design and to perform important activities earlier in the design process of production equipment. In this paper, the technological and economical scalability of Virtual Commissioning is analyzed. Based on the analysis, a technical concept for a scalable simulation environment is presented. The paper concludes with a new method for the economic application of Virtual Commissioning.

Automotive Lighting and Human Vision

Abstract: How Vision Constructs Reality.- Automotive Lighting - State of the Art.- Fundamental Problems with Automotive Lighting.- Automotive Lighting and Mechatronics.- References.

Agent-directed simulation systems engineering

Abstract: This article emphasizes the application of system engineering principles to the development of Modeling and Simulation (M&S) applications. Clear distinction between M&S for system engineering and system engineering (SE) for M&S is presented to clarify the need for simulation system engineering. Furthermore, the characteristics of emergent open, complex, and adaptive M&S applications are overviewed to make the case for agent-directed simulation system engineering. An agent-directed simulation view of developing such applications is presented within the framework of a cognitive system engineering perspective.

Multiphysics modeling and optimization of mechatronic multibody systems

Abstract: Modeling mechatronic multibody systems requires the same type of methodology as for designing and prototyping mechatronic devices: a unified and integrated engineering approach. Various formulations are currently proposed to deal with multiphysics modeling, e.g., graph theories, equational approaches, co-simulation techniques. Recent works have pointed out their relative advantages and drawbacks, depending on the application to deal with: model size, model complexity, degree of coupling, frequency range, etc. This paper is the result of a close collaboration between three laboratories, and aims at showing that for "non-academic" mechatronic applications (i.e., issuing from real industrial issues), multibody dynamics formulations can be generalized to mechatronic systems, for the model generation as well as for the numerical analysis phases. Model portability being also an important aspect of the work, they must be easily interfaced with control design and optimization programs. A global "demonstrator", based on an industrial case, is discussed: multiphysics modeling and mathematical optimization are carried out to illustrate the consistency and the efficiency of the proposed approaches.

Recent Advances in Mechatronics

Abstract: Mechatronics is the synergistic combination of precision engineering, electronics, photonics and IT engineering. The main research task for mechatronics is development and control of advanced hybrid systems covering all these fields and supported by interdisciplinary studies. This book presents recent state of advances in mechatronics presented on the 7th International Conference Mechatronics 2007, hosted at the Faculty of Mechatronics, Warsaw University of Technology, Poland. The chosen topics of the conference included: Nanotechnology, Automatic Control and Robotics, Biomedical Engineering, Design Manufacturing and Testing of MEMS, Metrology, Photonics, Mechatronic Products. The selected papers give an overview of the state-of-the-art and present new research results and prospects of the future development in this interdisciplinary field of mechatronic systems. This book will provide up-to-date and useful knowledge for researchers and engineers involved in mechatronics and related fields.

Mechatronic Systems, Sensors, and Actuators: Fundamentals and Modeling

Abstract: Overview of Mechatronics What Is Mechatronics? R.H. Bishop and M.K. Ramasubramanian Mechatronic Design Approach, R. Isermann System Interfacing, Instrumentation, and Control Systems, R. Homkes Microprocessor-Based Controllers and Microelectronics, O. Novak and I. Dolezal An Introduction to Micro- and Nanotechnology, M. Goldfarb, A. Strauss, and E.J. Barth NEW! Mechatronics Engineering Curriculum Design, M. Grimheden Physical System Modeling Modeling Electromechanical Systems, F.C. Moon Structures and Materials, E.T. Enikov Modeling of Mechanical Systems for Mechatronics Applications, R.G. Longoria Fluid Power Systems, Q. Zhang and C.E. Goering Electrical Engineering, G. Rizzoni Engineering Thermodynamics, M.J. Moran NEW! Numerical Simulation, J. Sullivan Falcon Modeling and Simulation for MEMS, C. Purdy Rotational and Translational Microelectromechanical Systems: MEMS, Synthesis, Microfabrication, Analysis, and Optimization, S.E. Lyshevski The Physical Basis of Analogies in Physical System Models, N. Hogan and P.C. Breedveld Mechatronic Sensors and Actuators Introduction to Sensors and Actuators, M. Anjanappa, K. Datta, T. Song, R. Angara and S. Li Fundamentals of Time and Frequency, M.A. Lombardi Sensor and Actuator Characteristics, J. Parker Sensors, K.M. Lynch, M.A. Peshkin, H. Eren, M.A. Elbestawi, I.J. Garshelis, R. Thorn, P.M. Norris, B. Hosticka, J.F. Figueroa, H.R. (Bart) Everett, S.S. Ipson, C. Liu, N. Vazquez, and D. Nair Actuators, G.T.-C. Chiu, C.J. Fraser, R.H. Bansevicius, R.T. Tolocka, M. Sorli, S. Pastorelli, and S.E. Lyshevski Index

Towards a methodology for integrated design of mechatronic servo systems

Abstract: Traditional methods for mechatronics design are often based on a sequential approach, where the mechanical structure is designed first, and then fitted with off-the-shelf electric motors, drive ele ...

Mechatronic Systems : Devices, Design, Control, Operation and Monitoring

Abstract: Only for you today! Discover your favourite mechatronic systems devices design control operation and monitoring book right here by downloading and getting the soft file of the book. This is not your time to traditionally go to the book stores to buy a book. Here, varieties of book collections are available to download. One of them is this mechatronic systems devices design control operation and monitoring as your preferred book. Getting this book b on-line in this site can be realized now by visiting the link page to download. It will be easy. Why should be here?

Mobile technologies and systems

Abstract: This chapter will provide the basic context and framework for understanding the technical environment and systems within which mobile learning operates. It will look at emerging and established systems, especially their technical characteristics, performance and connectivity. There is a glossary at the back of the book that provides additional simple explanations of many of the relevant concepts and more technical explanations are also available (Sharples and Beale 2003; Burkhardt et al. 2002).

Performance of cable suspended robots for upper limb rehabilitation

Abstract: This work presents a general simulation tool to evaluate the performance of a set of cable suspended rehabilitation robots Such a simulator is based on the mechanical model of the upper limb of a patient The tool was employed to assess the performances of two cable-driven robots, the NeReBot and the MariBot, developed at the Robotics & Mechatronics Laboratories of the Department of Innovation in Mechanics and Management (DIMEG) of University of Padua, Italy This comparison demonstrates that the second machine, which was conceived as an evolution of the first one, yields much better results in terms of patient's arm trajectories

Trends in Intelligent Manufacturing Systems

Abstract: A lot of changes in the manufacturing sector will occur in the future and it is important to transform the actual production systems to evolvable production systems. Fractal, bionic and holonic manufacturing systems are three concepts that have been proposed due their characteristics of flexibility and intelligence. This generation of manufacturing systems is known as intelligent manufacturing systems (IMS). Agent-based software is a technology that can make actions of control or supervision, endowing mechatronics devices with some intelligence. The use of multi-agent based software in operation and control of distributed systems is offering new distributed intelligent control functions (cooperation, planning, scheduling) over wired or wireless networked systems. In this paper, underlying principles of the construction of an IMS are concisely presented.

Modular Robot Manipulators Based on Virtual Decomposition Control

Abstract: Modular or re-configurable robots have been studied and developed over two decades. Most researches focus on mechatronic interfaces and re-configurable capabilities. However, less attention has been paid to dynamics and control. Consequently, the control performance of a modular robot has never been comparable with an integrated robot, due to the lack of proper handling of the dynamic interactions among the modules. In this paper, the application of the virtual decomposition control to modular robot manipulators is discussed. A high-speed databus with a data rate of 100 Mbps is used for necessary information exchange among the modules. The dynamics based control is fully handled by the local embedded controllers, whereas the host computer handles the kinematics related computation. The stability of the entire robot is rigorously guaranteed. This research aims at giving the modular robots the comparable control performance as the integrated robots, while keeping the fundamental feasibilities such as low cost for mass production, high flexibility, and easy use and expansion.

Modelling in Mechanical Engineering and Mechatronics: Towards Autonomous Intelligent Software Models

Abstract: Introduction Modelling Basics Conventioanl Product and Process Modelling Towards Better Product and Process Modelling Conclusion Perspectives Afterword

Equipamiento y tecnología en robótica

Abstract: We review the evolution and current status of robotic equipment and technology in urology. We also describe future developments in the key areas of virtual reality simulation, mechatronics and nanorobotics. The history of robotic technology is reviewed and put into the context of current systems. Experts in the associated fields of nanorobotics, mechatronics and virtual reality simulation simulation review the important future developments in these areas.

Operation strategy for a low-cost easy-operation Cassino Hexapod

Abstract: This paper presents operation strategies for a hexapod walking machine that has been designed and built at the Laboratory of Robotics and Mechatronics LARM at the University of Cassino. Special care has been addressed in proposing and describing a suitable mechanical design and architecture that can be easily operated by a PLC with on--off logic. Experimental tests are reported in order to show feasibility and operational capability of the proposed design.

Process, methods and tools for flexible aircraft flight dynamics model integration

Abstract: Multi-disciplinary flight dynamics models for rigid and flexible aircraft are used in various areas and stages of the aircraft design process, like for example flight loads analysis and flight control law design. These models must be sufficiently accurate, but also allow for thousands of simulations in a reasonable amount of time (i.e. ’loop-capable’). Depending on the application, flight dynamics models need to be available in various forms, like ODEs for nonlinear simulation, linear state space models for control analysis, etc. A major challenge in development of multi-disciplinary flight dynamics models is the handling and integration of data from various sources, removing overlaps, and filling in gaps in case specific data is missing. During the last decade, the DLR Institute of Robotics and Mechatronics has developed methods and tools for these tasks, as well as for model implementation in various forms suitable for aircraft design analysis. Recently, these aspects have been integrated in a standardized efficient model integration process, called DAMIP (DLR Aircraft Model Integration Process). DAMIP uses the data structure of VarLoads, which is developed in cooperation with Airbus, and is backed by appropriate methods and tools. In this paper an overview of DAMIP will be given, as well as some recent application examples.

Process systems engineering and CAPE – what next?

Abstract: Publisher Summary Outlining the concept of process systems engineering and computer aided process engineering (CAPE), this chapter discusses the future developments in the area. Process systems engineering (PSE) has been traditionally concerned with the understanding and development of systematic procedures for the design, control, and operation of chemical process systems. Problems related to process optimization, process integration and process synthesis/design are currently routinely solved through knowledge-based techniques as well as mathematical optimization techniques. Also, systematic methods and tools have been developed and applied to solve industrial problems in the area of planning and scheduling, online optimization, solvent selection/design, and many more.

Putting low-cost commercial robotics components to the test - Development of an educational mechatronics/robotics platform using LEGO components

Abstract: In this article, we investigate the possibility of using low-cost commercial material as a means of learning, research, and experimentation in fields such as mechatronics, robotics, and automatic control The capabilities and limitations of the selected platform, ie, of the LEGO elements, are studied via two projects that were designed and carried out, including a number of enhancements that address hardware and software limitations The first project involves a robotic vehicle that can follow predefined paths, while the second concerns two robotic vehicles cooperating in a specific task Algorithms and additional hardware were developed and the overall results are presented It was found that the platform is suitable for teaching many diverse issues of central importance in the areas of interest