Showing papers on "Mechatronics published in 2015"

Advanced Features and Industrial Applications of FPGAs—A Review

Abstract: Field programmable gate arrays (FPGAs) have established themselves as one of the preferred digital implementation platforms in a plethora of current industrial applications, and extensions and improvements are still continuously being included in the devices. This paper reviews recent advancements in FPGA technology, emphasizing the novel features that may significantly contribute to the development of more efficient digital systems for industrial applications. Special attention is paid to the design paradigm shift caused by the availability of increasingly powerful embedded (and soft) processors, which transformed FPGAs from hardware accelerators to very powerful system-on-chip (SoC) platforms. New analog resources, floating-point operators, and hard memory controllers are also described, because of the great advantages they provide to designers. Software tools are being strongly influenced by the design paradigm shift, which requires from them a much better support for software developers. Focusing mainly on this issue, recent advancements in software resources [intellectual property (IP) cores and design tools] are also reviewed. The impact of new FPGA features in industrial applications is analyzed in detail in three main areas, namely digital real-time simulation, advanced control techniques, and electronic instrumentation, with focus on mechatronics, robotics, and power systems design. The way digital systems are being currently designed in these areas is comprehensively reviewed, and a critical analysis of how they could significantly benefit from new FPGA features is presented.

Handbook of Driver Assistance Systems: Basic Information, Components and Systems for Active Safety and Comfort

Abstract: This fundamental work explains in detail systems for active safety and driver assistance, considering both their structure and their function. These include the well-known standard systems such as Anti-lock braking system (ABS), Electronic Stability Control (ESC) or Adaptive Cruise Control (ACC). But it includes also new systems for protecting collisions protection, for changing the lane, or for convenient parking.The book aims at giving a complete picture focusing on the entire system. First, it describes the components which are necessary for assistance systems, such as sensors, actuators, mechatronic subsystems, and control elements. Then, it explains key features for the user-friendly design of human-machine interfaces between driver and assistance system. Finally, important characteristic features ofdriver assistance systems for particular vehicles are presented: Systems for commercial vehicles and motorcycles.

LineScout Technology Opens the Way to Robotic Inspection and Maintenance of High-Voltage Power Lines

Abstract: Historically, the inspection and maintenance of high-voltage power lines have been performed by linemen using various traditional means. In recent years, the use of robots appeared as a new and complementary method of performing such tasks, as several initiatives have been explored around the world. Among them is the teleoperated robotic platform called LineScout Technology, developed by Hydro-Quebec, which has the capacity to clear most obstacles found on the grid. Since its 2006 introduction in the operations, it is considered by many utilities as the pioneer project in the domain. This paper’s purpose is to present the mobile platform design and its main mechatronics subsystems to support a comprehensive description of the main functions and application modules it offers. This includes sensors and a compact modular arm equipped with tools to repair cables and broken conductor strands. This system has now been used on many occasions to assess the condition of power line infrastructure and some results are presented. Finally, future developments and potential technologies roadmap are briefly discussed.

Preliminary design and fast prototyping of an Autonomous Underwater Vehicle propulsion system

Abstract: The Mechatronics and Dynamic Modelling Laboratory of the Department of Industrial Engineering, University of Florence, as a partner of THESAURUS (Italian acronym for ‘TecnicHe per l’Esplorazione Sottomarina Archeologica mediante l’Utilizzo di Robot aUtonomi in Sciami’) project, has developed an innovative low-cost, multirole autonomous underwater vehicle, called Tifone. This article deals with the adopted methodologies for the autonomous underwater vehicle design: in particular, the main focus of this study is related to its propulsion system. According to the expected performances and requirements of THESAURUS project, the vehicle has to maintain good autonomy and efficiency (typical features of an autonomous underwater vehicle), with high manoeuvrability and hovering capabilities, which are more common of remotely operated vehicles. Moreover, cooperative underwater exploration and surveillance involve the use of a swarm of vehicles. In particular, the optimization of costs versus benefits is achieved th...

Models for force control in telesurgical robot systems

Abstract: Surgical robotics is one of the most rapidly developing fields within robotics. Besides general motion control issues, control engineers often find it challenging to design robotic telesurgery systems, as these have to deal with complex environmental constrains. The unique behavior of soft tissues requires special approaches in both robot control and system modeling in the case of robotic tissue manipulation. Precise control depends on the appropriate modeling of the interaction between the manipulated tissues and the instruments held by the robotic arm, frequently referred to as the tool–tissue interaction. Due to the nature of the physiological environment, the mechatronics of the systems and the time delays, it is difficult to introduce a universal model or a general modeling approach. This paper gives an overview of the emerging problems in the design and modeling of telesurgical systems, analyzing each component, and introducing the most widely employed models. The arising control problems are reviewed in the frames of master–slave type teleoperation, proposing a novel oft tissue model and providing an overview of the possible control approaches.

Advanced Computer and Communication Engineering Technology

Abstract: The first € price and the £ and $ price are net prices, subject to local VAT. Prices indicated with * include VAT for books; the €(D) includes 7% for Germany, the €(A) includes 10% for Austria. Prices indicated with ** include VAT for electronic products; 19% for Germany, 20% for Austria. All prices exclusive of carriage charges. Prices and other details are subject to change without notice. All errors and omissions excepted. H.A. Sulaiman, M.A. Othman, M.F.I. Othman, Y.A. Rahim, N.C. Pee (Eds.) Advanced Computer and Communication Engineering Technology

A Mechatronic System for Robot-Mediated Hand Telerehabilitation

Abstract: This paper presents a novel mechatronics master–slave setup for hand telerehabilitation. The system consists of a sensorized glove acting as a remote master and a powered hand exoskeleton acting as a slave. The proposed architecture presents three main innovative solutions. First, it provides the therapist with an intuitive interface (a sensorized wearable glove) for conducting the rehabilitation exercises. Second, the patient can benefit from a robot-aided physical rehabilitation in which the slave hand robotic exoskeleton can provide an effective treatment outside the clinical environment without the physical presence of the therapist. Third, the mechatronics setup is integrated with a sensorized object, which allows for the execution of manipulation exercises and the recording of patient's improvements. In this paper, we also present the results of the experimental characterization carried out to verify the system usability of the proposed architecture with healthy volunteers.

LaboREM—A Remote Laboratory for Game-Like Training in Electronics

Abstract: The advances in communication networks and web technologies, in conjunction with the improved connectivity of test and measurement devices make it possible to implement e-learning applications that encompass the whole learning process. In the field of electrical engineering, automation or mechatronics, it means not only lectures, tutorials, demos and simulations, but also practical labwork for training with real-world devices that are controlled remotely. To make e-labs attractive, they should be easily implemented and accessed on the web by a client. This keypoint raises technical issues that are recalled in this paper. Nonetheless pedagogical issues are equally important. The benefit of a remote lab must be evaluated and compared to simulation labs or hands-on. Here, to foster student motivation, a game-like scenario embedded in a learning management system is proposed.

Design for the Unexpected, From Holonic Manufacturing Systems towards a Humane Mechatronics Society

Abstract: Design for the Unexpected: From Holonic Manufacturing Systems Towards a Humane Mechatronics Society presents new, even revolutionary, ideas to managing production and production systems which may fundamentally shift the paradigm of manufacturing systems design. It provides guidelines for the design of complex systems that can deal with unexpected disturbances and presents a decentralized control methodology that goes far beyond the traditional hierarchical control approach that currently prevails. The benefits are illustrated by a variety of examples and case studies from different fields, with the book's well-established authors presenting Holonic Manufacturing Systems (HMS) as the framework for the ?factory-of-the-future', and suggesting that the application of biologically inspired control paradigms can control complex manufacturing systems, and that there are far wider applications for these systems than pure manufacturing. In addition, the book explores how this multi-agent control framework can be extended to other fields such as traffic, transport, services, and health care. Provides a practical control system architecture that can be applied to a wide variety of systems in manufacturing, transportation, logistics, and roboticsContains a wide range of case studies from different engineering disciplinesProvides a decentralized control methodology that goes beyond the traditional hierarchical control approach that currently prevailsA must-read resource for researchers and professionals alike

An integrated framework for mechatronics based product development in a fuzzy environment

Abstract: Proposed integrated framework enhances Mechatronics product development process.A detailed conceptual design based on Fuzzy techniques will ensure a good design.Proper interfacing of various components results in better product.Fuzzy FMEA ensures that the final design is error free. New product development (NPD) is a term used to describe the complete process of bringing a new concept to a state of market readiness. Mechatronics based product requires a multidisciplinary approach for its modeling, design, development and implementation. An integrated and concurrent approach focusing on integrating the mechanical structure with basic three components namely sensors, controllers and actuators is required. This paper aims at developing a framework for a new Mechatronics product development. For conceptual design of Mechatronics system, various tools like Fuzzy Delphi Method (FDM), Fuzzy Interpretive Structural Modeling (FISM), Fuzzy Analytical Network Process (FANP) and Fuzzy Quality Function Deployment (FQFD) are used. Based on the prioritized design requirements, the functional specifications of the required components are developed. Then, Computer Aided Design and control system software are used to develop the detailed system design. Then, a prototype model is developed based on the integration of mechanical system with Sensor, Controller and Electrical units. Performance of the prototype model is monitored and Fuzzy failure mode and effect analysis (FMEA) is then used to rank the potential failures. Based on the results of fuzzy FMEA, the developed model is redesigned. The proposed framework is illustrated with a case study related to developing automatic power loom reed cleaning machine.

Mobile Robot Lab Project to Introduce Engineering Students to Fault Diagnosis in Mechatronic Systems

Abstract: This paper proposes lab work for learning fault detection and diagnosis (FDD) in mechatronic systems. These skills are important for engineering education because FDD is a key capability of competitive processes and products. The intended outcome of the lab work is that students become aware of the importance of faulty conditions and learn to design FDD strategies for a real system. To this end, the paper proposes a lab project where students are requested to develop a discrete event dynamic system (DEDS) diagnosis to cope with two faulty conditions in an autonomous mobile robot task. A sample solution is discussed for LEGO Mindstorms NXT robots with LabVIEW. This innovative practice is relevant to higher education engineering courses related to mechatronics, robotics, or DEDS. Results are also given of the application of this strategy as part of a postgraduate course on fault-tolerant mechatronic systems.

Engineering Design: The Great Integrator

Abstract: There is much support in the research literature and in the standards for the integration of engineering into science education, particularly the problem solving approach of engineering design. Engineering design is most often represented through design-based learning. However, teachers often do not have a clear definition of engineering design, appropriate models for teaching students, or the knowledge and experience to develop integrative learning activities. The purpose of this article is to examine definitions of engineering design and how it can be utilized to create a transdisciplinary approach to education to advance all students’ general STEM literacy skills and 21st century cognitive competencies. Suggestions for educators who incorporate engineering design into their instruction will also be presented.

Soft robotics for engineers

Abstract: Soft robotics is a fast-emerging interdisciplinary field combining mechatronics, control, material science and biomimetics. With their unique inherent compliance feature, soft robots have advantages over rigid-bodied robots for operations in unstructured environments. On the other hand, most soft robots reported to date are laboratory prototypes rather than end products. To fill this gap, they must undergo multiple transitions from an engineering perspective, through which soft robots are optimised in design, fabrication, power, control, and other engineering criteria, and be proven of their application worthiness. This paper compares conventional soft robotic technologies with the latest developments, and reviews the most recent advances of several engineering-oriented aspects of soft robotics research: fabrication technique standardisation which helps improve the repeatability and reliability of soft actuators; modelling and characterisation from both theoretical and simulation approaches which allow fo...

Towards an Integrated Conceptual Design Evaluation of Mechatronic Systems: The SysDICE Approach☆

Abstract: Mechatronic systems play a significant role in different types of industry, especially in trans- portation, aerospace, automotive and manufacturing. Although their multidisciplinary nature provides enormous functionalities, it is still one of the substantial challenges which frequently impede their design process. Notably, the conceptual design phase aggregates various engi- neering disciplines, project and business management fields, where different methods, modeling languages and software tools are applied. Therefore, an integrated environment is required to intimately engage the different domains together. This paper outlines a model-based research approach for an integrated conceptual design evaluation of mechatronic systems using SysML. Particularly, the state of the art is highlighted, most important challenges, remaining problems in this field and a novel solution is proposed, named SysDICE, combining model based system engineering and artificial intelligence techniques to support for achieving efficient design.

Versioning in cyber-physical production system engineering: best-practice and research agenda

Abstract: The parallel engineering of cyber-physical production systems (CPPSs), an important type of sCPS, needs the collaboration of several engineering disciplines, which use a wide range of heterogeneous tools and data sources. Systems engineers and process participants need an overview on the engineering artifact versions and their relationships on the project level. Unfortunately, the version management of engineering artifacts typically is conducted on the file level and does not support the versioning of engineering model elements. Recently, the Automation ML standard has been introduced to facilitate the data exchange between systems engineering tools. In this paper, we discuss the challenges of versioning related model views during the engineering of CPPSs to achieve a mechatronic view on the engineering artifacts. Based on real-world examples, we discuss (a) the strengths and limitations of best-practice approaches in CPPS engineering and (b) how software engineering contributions can provide the foundation for effectively addressing the challenge of versioning engineering model elements to provide a mechatronic view. From this analysis, we derive research issues for future work.

Progress in Systems Engineering

Abstract: This collection of proceedings from the International Conference on Systems Engineering, Las Vegas, 2014 is orientated toward systems engineering, including topics like aero-space, power systems, industrial automation and robotics, systems theory, control theory, artificial intelligence, signal processing, decision support, pattern recognition and machine learning, information and communication technologies, image processing, and computer vision as well as its applications. The volumes main focus is on models, algorithms, and software tools that facilitate efficient and convenient utilization of modern achievements in systems engineering.

Experiences in developing labs for a supervisory control and data acquisition course for undergraduate Mechatronics education

Abstract: This paper describes the course Systems for Supervision and Process Visualization that is conducted at the undergraduate studies of Mechatronics at University of Novi Sad, the scope, tasks, labs and hands on activities. In addition, it presents the student evaluation of the course that provided valuable feedback for further improvements. © 2013 Wiley Periodicals, Inc. Comput Appl Eng Educ 23:54–62, 2015; View this article online at wileyonlinelibrary.com/journal/cae; DOI 10.1002/cae.21578

Kirigami robot: Making paper robot using desktop cutting plotter and inkjet printer

Abstract: Much attention has recently been given to a printing method because they are easily designable, have a low cost, and can be mass produced. Numerous electronic devices are fabricated using printing methods because of these advantages. In paper mechatronics, attempts have been made to fabricate robots by printing on paper substrates. The robots are given structures through self-folding and functions using printed actuators. We developed a new system and device to fabricate more sophisticated printed robots. First, we successfully fabricated complex self-folding structures by applying an automatic cutting. Second, a rapidly created and low-voltage electrothermal actuator was developed using an inkjet printed circuit. Finally, a printed robot was fabricated by combining two techniques and two types of paper; a structure design paper and a circuit design paper. Gripper and conveyor robots were fabricated, and their functions were verified. These works demonstrate the possibility of paper mechatronics for rapid and low-cost prototyping as well as of printed robots.

System theoretic process analysis of electric power steering for automotive applications

Abstract: The automotive industry is constantly challenged with meeting and exceeding customer expectations while reducing time to market of new products in order to remain competitive. Providing new features and functionality into vehicles for customer satisfaction is becoming more challenging and driving design complexity to a higher level. Although traditional methods of Product Development Failure Mode identification such as FMEA (Failure Mode and Effect Analysis) or FTA (Fault Three Analysis) have been used to analyze failures in automotive systems, there are limitations when it comes to design errors, flawed requirements, human factors implications, and component interaction accidents in which all components operated as required but the system behavior was not as expected. In order to determine if there is room for improvement in current automotive product development process, this thesis applies Dr. Nancy Leveson's Systems-Theoretic Process Analysis (STPA) technique to compare and contrast with a Failure Modes and Effects Analysis (FMEA) approach as used in the automotive industry through a case study. A formal method of comparing results is proposed. This study found limitations with FMEA in terms of identifying unsafe interactions between systems, anticipating human error and other behaviors dependent on human interaction, identifying engineering design flaws, and producing requirements. STPA was able to find causes that had a direct relationship with those found in FMEA while also finding a portion of causes related to a higher level of abstraction of those in FMEA. STPA also found a subset of causes that FMEA was not able to find, which relate mainly to engineering design flaws and system interaction. Thesis Co-Supervisor: John Thomas Title: Research Scientist, Department of Aeronautics and Astronautics Thesis Co-Supervisor: Nancy G. Leveson Title: Professor of Aeronautics and Astronautics and Engineering Systems

Automotive mechatronics : automotive networking, driving stability systems, electronics

Abstract: Basics of mechatronics.- Architecture.- Electronic control unit.- Software development.- Basic principles of networking.- Automotive networking.- Bus systems.- Automotive sensors.- Sensor measuring principles.- Sensor types.- Electric actuators.- Electrohydraulic actuators.- Electronic transmission control.- Electronic transmission control unit.- Modules for transmission control.- Antilock braking system.- Traction control system.- Electronic stability program.- Automatic brake functions.- Hydraulic modulator.- Electrohydraulic brake.- Overview of common-rail systems.- Electronic Diesel control.- Active steering.- Drive and adjustment systems.- Heating, ventilation and air conditioning.- Vehicle security systems.- Electromagnetic compatibility and interference suppression.- Fault diagnostics.

Designing Mechatronics Equipment Based on the Example of the Stewart Platform

Abstract: Designing specific technical equipment requires solving a number of problems that consider the theoretical structures of particular technical means. In the case of mechatronics equipment, one should take into consideration three groups of problems: designing mechanical components, designing actuators and designing a control program [1]. Moreover, it is important to properly organize the process for the purpose to obtain a coherent project linking the three above mentioned sub-systems of mechatronics equipment [2]. Only when three sub-systems are properly designed, the whole system can appropriately and effectively operate. One should mention that the design process could be analyzed not only from the perspective of the partition of the main system but also from the perspective of design, material and assembly features [1, 3].Taking into account constraints providing for the design process, the procedures of creating the Stewart platform were followed. This platform was devised as an actuator of a car simulator [4, 5, 6, 7]. The process of designing was divided into the before introduced phases. First, the system of actuators was elaborated referring to information about the velocity and acceleration of a real car. Second, the control system was elaborated. The system was matched to the mechanical system of actuators. At the third stage, the control program was elaborated and tuned.All presented stages of the design process were computer aided so that the process of designing was conducted in virtual reality. It results in shortening the durability of the designing phase and in decreasing costs. This preparatory phase, including the realization phase, allowed preparing the real car simulator.

Computational intelligence and mechatronics solutions for robotic tactile object recognition

Abstract: The paper discusses signal processing and mechatronics solutions for tactile object recognition using robotic hands The two important aspects analyzed are the recognition of objects from tactile displacement profiles obtained by force sensing transducers and the recognition of textures using a rubbing motion executed by a robotic finger equipped with a dynamic tactile fingertip Neural network solutions are used as an intelligent approach to recognize symbols, such as embossed numbers and letters, as well as for the recognition of different texture profiles The conception issues, the challenges as well as the experimental results obtained are discussed from both a biological and a technological perspective