Showing papers on "Mechatronics published in 2010"

HAL: Hybrid Assistive Limb Based on Cybernics

Abstract: We aim to develop the Hybrid Assistive Lims (HAL) in order to enhance and upgrade the human capabilities based on the frontier science Cybernics. Cybernics is a new domain of interdisciplinary research centered on cybernetics, mechatronics, and informatics, and integrates neuroscience, robotics, systems engineering, information technology, “kansei” engineering, ergonomics, physiology, social science, law, ethics, management, economics etc. Robot Suit HAL is a cyborg type robot that can expand, augment and support physical capability. The robot suit HAL has two types of control systems such as “Cybernic Voluntary Control System” and “Cybernic Autonomous Control System”. The application fields of HAL are medical welfare, heavy work support and entertainment etc. In this paper, the outline of HAL and some of the important algorithms and recent challenges are described.

The 3+1 SysML View-Model in Model Integrated Mechatronics

Abstract: Software is becoming the driving force in today’s mechatronic systems. It does not only realize a significant part of their functionality but it is also used to realize their most competitive advantages. However, the traditional development process is wholly inappropriate for the development of these systems that impose a tighter coupling of software with electronics and mechanics. In this paper, a synergistic integration of the constituent parts of mechatronic systems, i.e. mechanical, electronic and software is proposed though the 3+1 SysML view-model. SysML is used to specify the cen-tral view-model of the mechatronic system while the other three views are for the different disciplines involved. The widely used in software engineering V-model is extended to address the requirements set by the 3+1 SysML view-model and the Model Integrated Mechatronics (MIM) paradigm. A SysML profile is described to facilitate the application of the proposed view-model in the development of mechatronic systems.

Motion Control for Real-World Haptics

Abstract: Prof. Fumio Harashima had driven the 21st Century Center of Excellence (COE) Program for human-adaptive mechatronics as a subleader from 2003 to 2008, when he was the president of Tokyo Denki University. This program mainly focused on the development of the significant technological breakthroughs in mechatronics and on the cultivation of distinguished young researchers in the field. This project was concluded with a great deal of success. This is one of his significant contributions to the establishment of a solid platform of human-support mechatronics technology. The authors have discussed with him about the human-support mechatronics technology for a long time. They have shared a future prospect of mechatronics for human support. As one of their common understandings, they noticed that the development of a new mechatronics technology based on humans' sensations and actions will be a key for the physical human support. From this background of their deep friendship, a short review about real-world haptics, which can achieve the remote physical support for human activities and the communication of humans' tactile sensation, is presented as a tribute to Prof. Fumio Harashima.

Power Engineering and Motion Control Web Laboratory: Design, Implementation, and Evaluation of Mechatronics Course

Abstract: During the E-learning Distance Interactive Practical Education project, 13 partners from 11 European countries joined together to build a power engineering and motion control remote laboratory, which would offer 18 complete online courses with remote experiments and high-quality documentation, to students from the universities of all participating partners. The major benefit of this project is the possibility of sharing expensive equipment and lessening the burdens of technical and organizational problems. This paper outlines the project's goals, organization, and, as an example, realization of one of the project's modules. The described module is a mechatronics motion control course, which explains the most important aspects of motion control design, from modeling, simulations, control design, experimental validation, and comparison between various controllers. The technical solutions, educational strategy, and realization details are given for the module. The pilot testing of the module was performed to assess the module and find out what the students' personal attitude concerning e-learning and remote experiments. The results of testing are presented and discussed.

Manufacturing system engineering with mechatronical units

Abstract: Within the engineering of manufacturing systems the paradigm mechatronical units is of important interest. To deal properly with mechatronical units within manufacturing system engineering they have to be defined, described and used in an appropriate way establishing a mechatronical engineering process.

A novel hybridization design principle for intelligent mechatronics systems

Abstract: This paper presents a novel design principle as well as its methodology for intelligent machine systems based on learning of hybridization in biology. In particular, we propose two principles for hybridization of physical systems: complementary principle and compatibility principle. The complementary principle states that two systems (A, B) can be integrated when A’s strength corresponds to B’s weakness, while B’s strength to A’s weakness. The compatibility principle states that two systems when they are integrated need to be adjusted at their physical component level to minimize their side effects. It is clear that the complementary principle gives a necessary condition for two systems to be integrated; while the compatibility principle gives a sufficient condition for integration of two components. These two principles are then elaborated with respect to a generic intelligent mechatronic system model, leading to three distinct hybrid physical systems: hybrid actuation system, hybrid mechanism system, and hybrid control system. Examples of the three hybrid physical systems are illustrated to highlight the two principles. The contribution of this paper is the proposed principles to design intelligent mechatronic systems through hybridization.

Virtual Mechatronic/Robotic laboratory - A step further in distance learning

Abstract: The implementation of the distance learning and e-learning in technical disciplines (like Mechanical and Electrical Engineering) is still far behind the grown practice in narrative disciplines (like Economy, management, etc) This comes out from the fact that education in technical disciplines inevitably involves laboratory exercises and this fact drastically increases the complexity of a potential e-learning system New approach and new specific knowledge are needed to develop such a system We expect to meet the requirements of distance learning by developing the software-based laboratory exercises, ie, a virtual laboratory To fully substitute a physical system like laboratory equipment, one must emulate its full dynamics The mathematical model in the form of differential equations will be applied to calculate dynamics and provide the data that would otherwise be measured on a physical system - this means simulation To prove the feasibility of the concept and make a step towards full e-learning in technical disciplines, we consider a complex technical field, Mechatronics and more precisely, Robotics being a perfect symbiosis of Mechanical and Electrical Engineering We present the Virtual Laboratory for Robotics (VLR) It possesses all the necessary features of a virtual laboratory: user interface, simulator, and visualization

Electromechanical Systems in Microtechnology and Mechatronics: Electrical, Mechanical and Acoustic Networks, their Interactions and Applications

Abstract: ▶ Text book for students of graduate and postgraduate level in the fields of microtechnology and precision engineering, technical acoustics, mechatronics, automation engineering Reference book for engineers working in different fields of industries, e.g. measurement and sensor technology, automation engineering, precision engineering, medical engineering, communication engineering Combination with FEM

Mechatronics and Intelligent Systems for Off-road Vehicles

Abstract: Rapid developments in electronics over the past two decades have induced a move from purely mechanical vehicles to mechatronics design. Recent advances in computing, sensors, and information technology are pushing mobile equipment design to incorporate higher levels of automation under the novel concept of intelligent vehicles. Mechatronics and Intelligent Systems for Off-road Vehicles introduces this concept, and provides an overview of recent applications and future approaches within this field. Several case studies present real examples of vehicles designed to navigate in off-road environments typically encountered by agriculture, forestry, and construction machines. The examples analyzed describe and illustrate key features for agricultural robotics, such as automatic steering, safeguarding, mapping, and precision agriculture applications. The eight chapters include numerous figures, each designed to improve the readers comprehension of subjects such as: automatic steering systems; navigation systems; vehicle architecture; image processing and vision; and three-dimensional perception and localization. Mechatronics and Intelligent Systems for Off-road Vehicles will be of great interest to professional engineers and researchers in vehicle automation, robotics, and the application of artificial intelligence to mobile equipment; as well as to graduate students of mechanical, electrical, and agricultural engineering.

A 10-Year Mechatronics Curriculum Development Initiative: Relevance, Content, and Results—Part II

Abstract: This paper describes the second and third phases of a comprehensive mechatronics curriculum development effort. They encompass the development of two advanced mechatronics courses (?Simulation and Modeling of Mechatronic Systems? and ?Sensors and Actuators for Mechatronic Systems?), the formulation of a Mechatronics concentration, and offshoot research activities in the mechatronics area. The first phase involved the design of an ?Introduction to Mechatronics? course and the infusion of mechatronic activities throughout the curriculum and in outreach activities and has been described in a companion paper ?A 10-Year Mechatronics Curriculum Development Initiative: Relevance, Content, and Results-Part I? (IEEE Transactions on Education, vol. 53, no. 2, May 2010).

Engaging High School and Engineering Students: A Multifaceted Outreach Program Based on a Mechatronics Platform

Abstract: If we aim to enhance the interest of students in engineering and therefore produce the best engineers, it is essential to strengthen the pipeline to high school education. This paper discusses several outreach activities undertaken by the Faculty of Engineering and Faculty of Education, University of Ottawa (UO), Ottawa, ON, Canada, to help the transition between high school and engineering education and to make students aware of the engineering profession. At the heart of these activities is mechatronics education, which demands an interdisciplinary approach, connects to fundamental math and science concepts, and promotes collaborative project-based learning (PBL). Connected to this focus, a multifaceted program of outreach activities has been initiated. The program includes creation of design-simulate-and-build projects by engineering and high school students, as well as an interactive presentation program whereby engineering students connect with high school students through the sharing of projects that they create in their engineering courses. The survey results indicate that for the high school students, these programs promote students' awareness of engineering and how the mathematics and science they take in school connects to engineering concepts. For the engineering students, they are provided with a meaningful context within which to share their projects and explain their own understanding of engineering principles.

Semantic tool interoperability for engineering manufacturing systems

Abstract: Manufacturing systems engineering projects depend on contributions from several engineering disciplines. These contributions consist of complex artifacts like mechanical, electrical, and software components and plans. While the software tools are strong in supporting each individual engineering discipline, there is very little work on engineering processes automation across semantically heterogeneous engineering tool data models. In this paper, we adapt the Engineering Knowledge Base (EKB) concept, a semantic model, which extends the Global-as-View concept and explicitly models common engineering concepts and mappings using machine-understandable syntax, for the engineering of manufacturing systems. We evaluate the concept based on a real-world use case for data exchange between software tools involved in the engineering of a manufacturing system software simulator. Major result is that the EKB concept sufficiently supports the semantic interoperability of tools to enable the automation of engineering processes.

Mechatronics : a foundation course

Abstract: Now that modern machinery and electromechanical devices are typically being controlled using analog and digital electronics and computers, the technologies of mechanical engineering in such a system can no longer be isolated from those of electronic and computer engineering. Mechatronics: A Foundation Course applies a unified approach to meet this challenge, developing an understanding of the synergistic and concurrent use of mechanics, electronics, computer engineering, and intelligent control systems for everything from modeling and analysis to design, implementation, control, and integration of smart electromechanical products. This book explains the fundamentals of integrating different types of components and functions, both mechanical and electrical, to achieve optimal operation that meets a desired set of performance specifications. This integration will benefit performance, efficiency, reliability, cost, and environmental impact. With useful features that distinguish it from other comparable books, this solid learning tool: Prioritizes readability and convenient reference Develops and presents key concepts and formulas, summarizing them in windows, tables, and lists in a user-friendly format Includes numerous worked examples, problems, and exercises related to real-life situations and the practice of mechatronics Describes and employs MATLAB, Simulink, LabVIEW, and associated toolboxes, providing various illustrative examples for their use Explores the limitations of available software tools and teaches the reader how to choose proper tools to solve a given problem and interpret and assess the validity of the results The text conveys the considerable experience that author Clarence de Silva gained from teaching mechatronics at the graduate and professional levels, as well as from his time working in industry for organizations such as IBM, Westinghouse Electric, and NASA. It systematically and seamlessly incorporates many different underlying engineering fundamentals into analytical methods, modeling approaches, and design techniques for mechatronicsall in a single resource.

Introduction to Mechatronic Design

Abstract: Introduction to Mechatronic Design is ideal for upper level and graduate Mechatronics courses in Electrical, Computing, or Mechanical & Aerospace Engineering. ? The power applied to the rotor must have taken careful steps per step motors. Usually its size introduction to understand and problems encountered in the motor. A time the same mechanism, as illustrated in servo. A text an accessible coverage of abstraction the current through. If the angular position control applications this level and north pole to reverse shaft.

Square Foot Manufacturing: a new production concept for micro manufacturing

Abstract: Today a large number of microstructures are already employed as separate components or as constituents of larger modules in a broad spectrum of production in medical technology, optics, biotechnology, mechatronics, fluidics, (micro)-forming and tool construction. Current research activities are directed towards the downscaling of manufacturing procedures or the formation of complex process chains for the manufacture of micro workpieces. The Square Foot Manufacturing concept represents one approach aimed at achieving significant technical, economic and ecological developments in the production of microstructures by means of machining techniques that can be applied to a spectrum of materials as broad as possible. This fabrication concept representing a refinement of existing desktop manufacturing concepts is currently being developed at the Institute of Production Engineering of Helmut-Schmidt-University/University of the Federal Armed Forces Hamburg. This paper is intended to provide an overview of the theoretical concept and the current state of its technical implementation.

Human Adaptive Mechatronics

Abstract: This article explains the background of human adaptive mechatronics (HAM) and the skill level of individuals to operate machines. It is natural to consider both human and environmental factors in the field of robotics and mechatronics. The progress of machines cannot be achieved without paying attention to these factors; a culture that accepts that this evolved through the contributions of many researchers and developers. Prof. Fumio Harashima contributed to the development of HAM significantly. He has done cooperative research with many companies (Hitachi, Toshiba, Mitsubishi Electric, Fuji Electric, Toyo Electric, Dengensha Co., Toyota Corp., Tohoku Electric Power Co., Sumitomo Heavy Machine Corp., Yazaki Corp., and many others) and promoted several large research projects concerned with this culture, such as “Electromagnetic Interference” in the Japan Society for the Promotion of Science project (1998-2003), “Interaction and Intelligence” in the Sakigake Project (2001-2006), and “Human Adaptive Mechatronics” in the HAM project by coordinating with Prof. Furuta during 2004-2008. The HAM project was initiated by Prof. Harashima and Prof. Furuta, my supervisors when I was a student at the Tokyo Institute of Technology, and this project gave me an opportunity to meet Prof. Harashima.

Evolution of Humanoid Robot and contribution of various countries in advancing the research and development of the platform

Abstract: A human like autonomous robot which is capable to adapt itself with the changing of its environment and continue to reach its goal is considered as Humanoid Robot. These characteristics differs the Android from the other kind of robots. In recent years there has been much progress in the development of Humanoid and still there are a lot of scopes in this field. A number of research groups are interested in this area and trying to design and develop a various platforms of Humanoid based on mechanical and biological concept. Many researchers focus on the designing of lower torso to make the Robot navigating as like as a normal human being do. Designing the lower torso which includes west, hip, knee, ankle and toe, is the more complex and more challenging task. Upper torso design is another complex but interesting task that includes the design of arms and neck. Analysis of walking gait, optimal control of multiple motors or other actuators, controlling the Degree of Freedom (DOF), adaptability control and intelligence are also the challenging tasks to make a Humanoid to behave like a human. Basically research on this field combines a variety of disciplines which make it more thought-provoking area in Mechatronics Engineering. In this paper a various platforms for Humanoid Robot development are identified and described based on the evolutionary research on robotics. The paper also depicts a virtual map of humanoid platform development from the ancient time to present time. It is very important and effective to analyze the development phases of androids because of its Business, Educational and Research value. Basic comparisons between the different designs of Humanoid Structures are also analyzed in this paper.

Of mechatronic systems

Abstract: In this paper,mechanical and electrical integration technologies,including the content and status of studies of mechatronic systems provides a brief analysis and elaboration of hope for our colleagues to provide bit by bit to help.

Design issues for human-machine platform interface in cable-based parallel manipulators for physiotherapy applications

Abstract: We outline problems and potential solutions for feasible human-machine interfaces using cable-based parallel manipulators for physiotherapy applications. From an engineering perspective, we discuss the design constraints related to acceptance by patients and physiotherapist users. To date, most designs have focused on mobile platforms that are designed to be operated as an end-effector connected to human limbs for direct patient interaction. Some specific examples are illustrated from the authors’ experience with prototypes available at Laboratory of Robotics and Mechatronics (LARM), Italy.

Design and Implementation of a Mechatronics Learning Module in a Large First-Semester Engineering Course

Abstract: Since 2005, the first-year engineering program at Virginia Tech, Blacksburg, has been significantly restructured to include more hands-on learning. A major grant (2004-2009) under the department level reform (DLR) program of the National Science Foundation (NSF) facilitated this restructuring. A number of hands-on learning modules were developed and implemented within a required first-semester undergraduate course. One of the modules introduced mechatronics. The goal of this module is to introduce first-year engineering students to a portion of the mechanical engineering, electrical engineering, and computer engineering disciplines within a collaborative setting. Interestingly, while the largest portion of engineering students in the United States are enrolled in electrical and mechanical engineering programs, there is a disparity between the percentage of male engineering students and female engineering students within those disciplines relative to the overall distribution of all students among the various engineering disciplines. By introducing all engineering students to mechatronics before students declare their specific discipline, the college hopes to attract more females to programs that suffer from a greater gender disparity than is already found within the science, technology, engineering, and mathematics (STEM) disciplines. This paper discusses the details of the implementation of the mechatronics initiative and gives student feedback that includes overall perception of the initiative and perception by gender.

Integrated Structural and Controller Optimization in Dynamic Mechatronic Systems

Abstract: In order to take into account the interaction between the part, dynamic system, control system, and 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 cosimulation of the control system represented by tools of the computer aided control engineering, is integrated into the optimization process. By an inner optimization loop the controller parameters are adopted new in each of the iterations of the topology optimization in order to provide realistic load cases. The benefits will be illustrated by an example in conjunction with the humanoid robot ARMAR III of the Collaborative Research Centre 588 “Humanoid Robots-Learning and Cooperating Multimodal Robots” in Karlsruhe Germany. It will be shown how the new approach for the optimization of parts “within” their surrounding mechatronic system allows an efficient optimization of such structures.

MMG sensor for muscle activity detection : low cost design, implementation and experimentation : a thesis presented in fulfilment of the requirements for the degree of Masters of Engineering in Mechatronics, Massey University, Auckland, New Zealand

Abstract: There is always a demand for cheaper, simpler and more effective human-machine interfaces. Currently, the most reliable and common muscle activity sensor is the EMG. The EMG is an expensive and complex piece of equipment which is far from ideal all round solution. The purpose of this research is to explore various methods of muscle activity detection and using the information gathered design and implement a sensor capable of detecting muscle activation. The major focus is on mechanomyography (MMG), the measurement of mechanical response of muscle during muscle activity. It is well documented that muscles produce low frequency vibrations (5 – 100Hz) during muscle activity. A microphone is able to capture these vibrations when they reach the surface of the skin. The prototype sensor consists of a microphone, microphone preamplifier, low pass Butterworth hardware filter, data acquisition hardware and accompanying data acquisition software. During the experimentation phase, we explored various documented muscle events and phenomena, both general muscle events and ones unique exclusively to MMG. This includes things such as muscle fatigue, exponential relationship between force and vibration, and any other undocumented events. This experimentation also helped determine the effectiveness of the sensor. Testing showed that periods of muscle activity were clearly visible and there was a definitely relationship between the force and vibrations, however there were shortcomings in terms of the sensor design. This included finding a better method of attaching the sensor to the surface of the skin, the dimension deformations of the muscle caused unwanted artefacts in the results and muscle fatigue was not observed. Despite its imperfections, it can be concluded that the design and implementation was a limited success.

Machine Learning and Systems Engineering

Abstract: A large international conference on Advances in Machine Learning and Systems Engineering was held in UC Berkeley, California, USA, October 20-22, 2009, under the auspices of the World Congress on Engineering and Computer Science (WCECS 2009). Machine Learning and Systems Engineering contains forty-six revised and extended research articles written by prominent researchers participating in the conference. Topics covered include Expert system, Intelligent decision making, Knowledge-based systems, Knowledge extraction, Data analysis tools, Computational biology, Optimization algorithms, Experiment designs, Complex system identification, Computational modeling, and industrial applications. Machine Learning and Systems Engineering offers the state of the art of tremendous advances in machine learning and systems engineering and also serves as an excellent reference text for researchers and graduate students, working on machine learning and systems engineering.