Showing papers on "Mechatronics published in 2008"

Cartesian Impedance Control of Redundant and Flexible-Joint Robots

Abstract: The monograph written by Christian Ott is devoted to the classical research topic of impedance control which has recently found new interest after the progress in the mechanical design of lightweight robotic systems with improved actuation and sensing principles. The contents expand the authors doctoral dissertation and are focused on two key issues, namely joint flexibility and kinematic redundancy. A number of effective controllers are developed in theory, based on consolidated approaches such as singular perturbation and passivity, and are tested in extensive experiments on the DLR humanoid manipulator Justin, one of the most advanced robotic systems available up to date from a technology and mechatronics standpoint.

Middleware for Robotics: A Survey

Abstract: The field of robotics relies heavily on various technologies such as mechatronics, computing systems, and wireless communication. Given the fast growing technological progress in these fields, robots can offer a wide range of applications. However real world integration and application development for such a distributed system composed of many robotic modules and networked robotic devices is very difficult. Therefore, middleware services provide a novel approach offering many possibilities and drastically enhancing the application development for robots. This paper surveys the current state of middleware approaches in this domain. It discusses middleware challenges in these systems and presents some representative middleware solutions specifically designed for robots. The selection of the studied methods tries to cover most of the middleware platforms, objectives and approaches that have been proposed by researchers in this field.

System of systems engineering

Abstract: The purpose of this article is to develop the concept, foundations, research directions, and practice implications for System of Systems Engineering (SoSE) First, we introduce the nature of the co

Brake Technology Handbook

Abstract: Microelectronics and mechatronics have resulted in a significant increase in the technical potential and functionality of brake systems. In a single source, this book provides comprehensive coverage of the current state of the art, as well as the future, of brakes and braking systems. Translated and completely updated from the landmark German-language work Bremsenhandbuch, Brake Technology Handbook covers brake system fundamentals, requirements, design, construction, components, and subsystem functions for vehicles of all types (including passenger cars, commercial vehicles, off-road vehicles, motorcycles, racing vehicles and even aircraft).

Mechatronics and Machine Vision in Practice

Abstract: Proceedings of 13th Annual Conference on Mechatronics and Machine Vision in Practice, Toowoomba, Australia, 5-7 December 2006.

Tool support for the design of self-optimizing mechatronic multi-agent systems

Abstract: Complex technical systems, such as mechatronic systems, can exploit networking as well as the computational power available today to achieve an automatic improvement of the technical system performance at run-time through self-optimization. To realize this vision, appropriate means for the design of such self-optimizing mechatronic systems are required. Well-established techniques and tools for the modeling of cognitive behavior, reflective behavior, and control behavior exist. However, to really enable self-optimization and its full potential, these different aspects have to be safely integrated in a manner that remains comprehensible to the designer. In this article, we present how this required integration has been realized at the semantic level by extending the unified modeling language (UML), and at the tool level by integrating the CAE tool CAMeL and the CASE tool Fujaba real-time tool suite. The presented Mechatronic UML approach supports the design of verifiable, complex, reconfigurable mechatronic systems using the multi-agent system metaphor.

A Methodology for the Design of Robotic Hands with Multiple Fingers

Abstract: This paper presents a methodology that has been applied for a design process of anthropomorphic hands with multiple fingers. Biomechanical characteristics of human hand have been analysed so that ergonomic and anthropometric aspects have been used as fundamental references for obtaining grasping mechanisms. A kinematic analysis has been proposed to define the requirements for designing grasping functions. Selection of materials and actuators has been discussed too. This topic has been based on previous experiences with prototypes that have been developed at the Laboratory of Robotics and Mechatronics (LARM) of the University of Cassino. An example of the application of the proposed method has been presented for the design of a first prototype of

A mechatronics approach in intelligent control systems of the overhead traveling cranes prototyping

Abstract: The paper presents a mechatronics approach to elaborate intelligent control system of the real device: the two-spares overhead crane. The control system, based on fuzzy controller with Takagi-Sugeno-Kang fuzzy inference system, was elaborated, built and optimized during simulations conducted on mathematical models of the device and experiments conducted on the real device and next the control algorithm was implemented on the final control device, programmable logic controller PLC. Applied programming environment based on Matlab program and HMI (Human Machine-Interface) application as well as hardware’s solutions gave a possibility to build the control system using rapid prototyping method.

Interdisciplinary Mechatronics engineering and science: problem-solving, creative-thinking and concurrent design synergy

Abstract: Mechatronics engineering science describes the interdisciplinary synergy of education, knowledge, thinking, way of work, practices, and professional skills. It is supported by strong engineering science foundation beyond traditional disciplinary boundaries and featured by open-ending learning chains with ability to fuse new knowledge and experiences through lifelong learning. Mechatronics focuses on the process of learning coupled with thinking and linked with actions rather than teaching, and fused with concurrent design synergy from the earliest conceptual stages of the design and development process. Efficient structure of a Mechatronics Engineering Degree programme should provide in-depth interdisciplinary knowledge and emphasise on individual- and team-based learning through problem- and project-based curriculum to fulfil the challenges of modern technology and the demand for innovation.

System based topology optimization as development tools for lightweight components in humanoid robots

Abstract: With the development of humanoid robots, lightweight construction and energy efficiency play an important role as these mobile, dynamic systems have to work self-sufficiently. In state-of-the-art processes and methods concerning structural optimization it is assumed that there exists a set of external loads or load functions acting on the part. But humanoid robots are very complex mechatronic systems. The fact that the systempsilas dynamic properties and its overall behavior may change due to geometric modifications of a part caused by an optimization process is typically neglected. In order to take into account the interaction between the part, dynamic system, control system and the changing mechanical behavior with all its consequences for the optimization process, a simulation of the complete mechatronic system is integrated into the optimization process within the research work presented in this paper. A hybrid multibody system (MBS) simulation, that is, a MBS containing flexible bodies, in conjunction with a co-simulation of the control system represented by tools of the computer aided control engineering (CACE) is integrated into the optimization process. The benefits will be illustrated by an optimization of parts of the humanoid robot ARMAR of the collaborative research centre for ldquoHumanoid Robotsrdquo. Especially the optimization of two parts at a time within one optimization loop allows an efficient optimization of structures ldquowithinrdquo their surrounding mechatronic system.

Analysis of multicriteria choice problems by methods of the theory of criteria importance, based on computer systems of decision-making support

Abstract: A set of interrelated methods is presented for analyzing multicriteria decision-making problems on the basis of an information on the criteria importance and change of the preferences along their scales. Computer systems of decision-making support, implementing these methods within the methodology of progressive adequate modeling of preferences are briefly described. The paper is based on two presentations at the International Conference on Operations Research in Moscow (ORM-2007) [1, 2].

Mechatronic Model Based Computed Torque Control of a Parallel Manipulator

Abstract: With high speed and accuracy the parallel manipulators have wide application in the industry, but there still exist many difficulties in the actual control process because of the time-varying and c...

Distance laboratory for teaching Industrial Electronics

Abstract: The paper deals with basic philosophy and structure of remote controlled laboratory for experimentation in electrical engineering. PEMCWebLab project provides the user with a practical experience in industrial electronics education. It is designed based on leading ideas and has clear targets. In this paper laboratory for the course motion control is introduced. First of all description of the system and then two assignments namely calibration of resolver and current control loop design explained. Goal of the experiment, content of the experiment and verification of the achieved learning outcomes is illustrated on the mentioned two examples.

Human adaptive and friendly mechatronics (HAFM)

Abstract: Mechatronics represents an engineering science paradigm, which brings out innovative ways to synergize multiple disciplines and enhances machine intelligence. Mechatronics supports new ways of thinking, innovations, design methodologies and practices to the develop new intelligent products and engineering systems, which concentrates on achieving optimum functional synergy, from the earliest conceptual stages of the design process. HAFM represents the new era of mechatronics, which provides new methodologies and tools to design and to build new human oriented machines and systems featured by harmony and coexistence with its human user. HAFM allows to create, design and support the development of new concepts for realizing intelligent human oriented machines that can think, coordinate and featured by interactive cooperation with their human users. This paper provides insight on the importance and evolution of mechatronics and the role of HAFM as a new era of Mechatronics.

An operator induction tool supporting knowledge engineering in planning

Abstract: Within the eld of arti cial intelligence are many disciplines, one of which is planning. Planning seeks to nd a suitable sequence of actions to carry out a task speci ed as a set of initial states for the objects involved in the actions and a required goal state. To do this the system has to have enough knowledge about the `world' in the form of a planning domain model. The process of constructing a planning domain model requires knowledge engineering. The structuring of the knowledge is important and hand-coding a domain model is a tedious and error-prone process. Static knowledge in the domain requires little update but the same cannot be said for the dynamic knowledge. The most di cult area of engineering planning domain models is the acquisition of operator schema, which contain descriptions of all the primitive actions (operators). In hierarchical models where actions may be modelled as sub-tasks, construction of these actions (methods) is particularly di cult and error-prone. We argue for a system whereby dynamic knowledge can be generated for every planning eventuality. The major contribution of the thesis is a method for inducing primitive and hierarchical actions from several solution examples, without the bene t of intermediate state information. In our system, opmaker , actions are generated from relatively short action sequences, indicated by a user, who has simply to name an action and identify associated objects as being a ected or una ected by the action. To complete a planning task the system uses the static domain knowledge, the initial and goal states from the planning task, and the action sequences. Using these it rst deduces possible state-change pathways which, using the right heuristics, may be unique (or at most have only a handful of pathways), and uses these to induce all the actions it needs. These actions can then be learned or regenerated at will. x We show that these induced actions compare to hand-crafted versions and can be used in planning. We can demonstrate that the hierarchical methods o er greater e ciency in planning times when compared to domains where previously no methods were o ered. The motivation for these ideas comes from the need to extend the development of GIPO, an integrated package for the construction of domain models in the form of a graphical user interface. We show how opmaker1 has already become a tool within GIPO for at domains and argue for the inclusion of its successor, opmaker2. Descriptions of domain construction and results using opmaker with several example domains are given. We analyse how, in general, this work contributes to and supports knowledge within the eld, and the thesis concludes with suggestions for future work and discusses the particular contributions o ered by opmaker to planning and knowledge engineering. xi ACKNOWLEDGEMENTS I would particularly like to thank my supervisor, Lee McCluskey, for his advice encouragement and `pep' talks when the going got rough during my time as a PhD student. I am indebted to Lee for his constructive advice on the content of this thesis and for always being able to see the `bigger picture'. To Margaret West I would like to extend my gratitude for all the patient hours helping me with Prolog and keeping me on track. I would also like to thank both my second supervisors, Margaret West and Diane Kitchin, for their advice on the readability of this thesis. My thanks also go to Stephen Cresswell who has been invaluable for the discussion of ideas, arguing about invariants and algorithms, and sharing the excitement of good results with cautious optimism. I would like to express my thanks to my family for their unstinting support of this venture, for their encouragement and belief in me and, in the case of my husband Mike, for his sheer determination when I had lost mine! Finally I would like to dedicate this thesis to my father, Frank Douthwaite, who sadly died six months before its completion, but who would have been proud to see his daughter succeed. xii DECLARATION I grant powers of discretion to the University Librarian to allow this thesis to be copied in whole or in part without further reference to me. This permission covers only single copies made for study purposes, subject to normal conditions of acknowledgement. xiii Chapter

High Level Model Integration for Design of Mechatronic Systems

Abstract: Development of mechatronic products, and their controllers, carries a series of difficulties related mainly to product complexity. This paper discusses such difficulties and introduces a proposal of a framework of prototype tools that aim to support controller design for mechatronic systems by providing control software generation. This work emphasizes the high level system description embedded in such framework and the model integration aspects.

Robust Integrated Design for a Mechatronic Feed Drive System of Machine Tools

Abstract: The mechatronic design process usually covers two different engineering domains: structure design and system control. The relationship between these two domains is very tight. In order to reduce the disturbance caused by parameters in either one, the domain knowledge from those two different fields needs to be integrated. So the technique of multilevel decomposition optimization is applied to achieve multiple design objectives. To investigate the method for integrated optimization, we use the machine tools, which are the major output in our country, as a design platform. Initially, the application software of Pro/E and AnSys are used to build a 3D model to analyze and design structure parameters based on their effect and sensitivity to the controller. The physical properties of the machine tool are obtained. Matlab is also applied to determine proper control parameters for the system. Finally, the technology of design for control to machine tools is fully established and the corresponding production competitiveness is expected to rise

Intelligent Mechatronics and robotics

Abstract: Mechatronics is defined as “Synergetic Integration of Mechanics and Electronics”. Recently computer and information technologies have accelerated mechatronics technology to be more and more intelligent. Thus, intelligent mechatronics is a technology on how to give human psychology to mechanical system so that human and mechanical system could interact with each other.

Remotely controlled multi robot environment

Abstract: The current study introduces updating of the educational process in higher educational institutions and raising the vocational qualification of engineers in companies Modern networking e-environment requires broad-minded employees who have a perfect core education and who can understand the main principles of work in related disciplines The objective of the study was the development of an integrated inter-disciplinary e-curriculum concentrated on mechatronics, supported by mobile laboratory sets that can save study time and resources New concepts of integrated engineering areas and information technologies are introduced in this paper