Showing papers on "Mechatronics published in 2018"

Advanced motion control for precision mechatronics: control, identification, and learning of complex systems

Abstract: Manufacturing equipment and scientific instruments, including wafer scanners, printers, microscopes, and medical imaging scanners, require accurate and fast motions. An increase in such requirements necessitates enhanced control performance. The aim of this paper is to identify several challenges for advanced motion control originating from these increasing accuracy, speed, and cost requirements. For instance, flexible mechanics must be explicitly addressed through overactuation, oversensing, inferential control, and position-dependent control. This in turn requires suitable models of appropriate complexity. One of the main advantages of such motion systems is the fact that experimenting and collecting large amounts of accurate data is inexpensive, paving the way for identifying and learning of models and controllers from experimental data. Several ongoing developments are outlined that constitute part of an overall framework for control, identification, and learning of complex motion systems. In turn, this may pave the way for new mechatronic design principles, leading to fast lightweight machines where spatio-temporal flexible mechanics are explicitly compensated through advanced motion control.

A Multidisciplinary Industrial Robot Approach for Teaching Mechatronics-Related Courses

Abstract: This paper presents a robot prototype for an undergraduate laboratory program designed to fulfill the criteria laid out by ABET. The main objective of the program is for students to learn some basic concepts of embedded systems and robotics, and apply them in practice. For that purpose, various practical laboratory exercises were prepared to teach different aspects of communications, control, mechatronics, and microcontrollers. The practicals are organized such that the students can systematically solve real-world problems. The most important feature of the presented program is that, it incorporates interdisciplinary knowledge, and inculcates technical and professional skills required in pursuing a successful career. Furthermore, students and instructors can modify the software and hardware units of the robot prototype as necessary, to explore more ideas and to apply the robot in other mechatronics-related courses. A digital electronics course taught at the Automation Department at Universidad Autonoma de Queretaro, Queretaro, Mexico, is presented as a case study in which the evaluation process was based on ABET criteria and the corresponding student outcomes. A student survey elicited students’ observations of, and interest in, the learning process. The positive student feedback and student academic outcomes indicate that the inclusion of prototype had a significant impact on student academic outcomes.

Design and assessment of a flexible fish robot actuated by shape memory alloys.

Abstract: In this paper, we present a fish-like underwater robot inspired by the black bass fish. This robot is composed of a deformable structure and muscle-like linear actuators based on shape memory alloy wires. Such actuators are used to bend a continuous structure representing the backbone of the fish. The prototype is also equipped with a bio-inspired synthetic skin made of liquid silicone rubber and Lycra microfiber mesh. We present the mechatronics of the prototype and its control scheme, which take advantage of flex sensors for proprioception. Experiments under different conditions (in air and in water) assess the effectiveness of the mechatronics design and demonstrate that a relatively simple PID controller provides high precision of the muscles' position control. Here, the implementation of biomimetic kinematics and silent actuation technology in bio-inspired underwater robotics are demonstrated. Progress in this technology could provide multiple applications, including fish farming, coastal protection and live animal monitoring where silent robotics are necessary.

GPS tracking system for autonomous vehicles

Abstract: This paper presents a proposed design of a mechatronics system for autonomous vehicles. The proposed design is able to memorize a route based on Global Positioning System (GPS) rather than using pre-saved maps that are infrequently updated and do not include all roads of all countries. Moreover, it can autonomously avoid obstacles and detect bumps. Experimental tests are conducted using a small-scale car equipped with the proposed mechatronics system. The results show that the proposed system operates with minor errors and slips. The proposed autonomous vehicle can serve normal, disabled, and elderly people. It can be used on roads and even inside facilities like campuses, airports, and factories to transport passengers or loads thus reducing workmanship and costs.

Large-Scale 3D Printing: The Way Forward

Abstract: Research on small-scale 3D printing has rapidly evolved, where numerous industrial products have been tested and successfully applied. Nonetheless, research on large-scale 3D printing, directed to large-scale applications such as construction and automotive manufacturing, yet demands a great a great deal of efforts. Large-scale 3D printing is considered an interdisciplinary topic and requires establishing a blended knowledge base from numerous research fields including structural engineering, materials science, mechatronics, software engineering, artificial intelligence and architectural engineering. This review article summarizes key topics of relevance to new research trends on large-scale 3D printing, particularly pertaining (1) technological solutions of additive construction (i.e. the 3D printers themselves), (2) materials science challenges, and (3) new design opportunities.

POLIBOT – POwer Lines Inspection RoBOT

Abstract: Several studies have aimed to develop robotic systems which move in transmission lines. Until this moment, all of them have a high weight and cost associated with the equipment and reduced battery autonomy time. In this context, this paper aims to propose the POLIBOT (POwer Lines Inspection roBOT) with low cost and weight, enabling the movement over the lines and an easier installation and remove.,The designed robot uses the Profiles Manufacturing Methodology (PMM). The construction of the robot mechanical structure uses modularized aluminum parts built through square profiles. Thus, it’s possible a drastic reduction in production time as well as cost reduction and weight when comparing this method with other manufacturing processes like foundry, for example. For hardware and software systems, the use of free and open source software causes a significant reduction in cost and project execution time. The benefits of using open source systems are immeasurable, both from academic and industrial applications.,The POLIBOT platform is one solution to the problem of inspection in power lines. With this robot, more lines are maintained with lower time. In its constructive aspect, the robotic mechanism is designed using principles of bioengineering. The use of this principle was successful, considering that obstacle transposition is performed with stability and low energy consumption.,The suggestion for future researches is to replace the battery for solar energy and construction in polymeric material to avoid high magnetic fields.,The commercial application is evident because manual inspections are inefficient, very expensive and dangerous. Thus, it is growing the number of researches that develop mechatronics systems for this kind of inspection.,The impact is the reduction of accidents because the present procedure requires precision of movements, where the pilot and electrical technician are close to high electrical and magnetic fields. In addition, for some tasks, the worker has to walk on the line to reach some important points. Thus, those tasks involve high risk of death.,The PMM methodology represents an innovation to the state of the art because others robotic mechanisms proposed for inspection tasks present total structure mass between 50 and 100 kg and POLIBOT has only 9 kg. Other fact is its price for implementation as this robot used the robot operating system (ROS) framework, what dispense the use of licenses. Other important features are that the robot performs the tasks autonomously, which reduces errors introduced by the operator and its low manufacturing cost as compared with other projects.

A Biologically Inspired Framework for the Intelligent Control of Mechatronic Systems and Its Application to a Micro Diving Agent

Abstract: Mechatronic systems are becoming an intrinsic part of our daily life, and the adopted control approach in turn plays an essential role in the emulation of the intelligent behavior. In this paper, a framework for the development of intelligent controllers is proposed. We highlight that robustness, prediction, adaptation, and learning, which may be considered the most fundamental traits of all intelligent biological systems, should be taken into account within the project of the control scheme. Hence, the proposed framework is based on the fusion of a nonlinear control scheme with computational intelligence and also allows mechatronic systems to be able to make reasonable predictions about its dynamic behavior, adapt itself to changes in the plant, learn by interacting with the environment, and be robust to both structured and unstructured uncertainties. In order to illustrate the implementation of the control law within the proposed framework, a new intelligent depth controller is designed for a microdiving agent. On this basis, sliding mode control is combined with an adaptive neural network to provide the basic intelligent features. Online learning by minimizing a composite error signal, instead of supervised off-line training, is adopted to update the weight vector of the neural network. The boundedness and convergence properties of all closed-loop signals are proved using a Lyapunov-like stability analysis. Numerical simulations and experimental results obtained with the microdiving agent demonstrate the efficacy of the proposed approach and its suitableness for both stabilization and trajectory tracking problems.

On the Comparison of Model-Based and Model-Free Controllers in Guidance, Navigation and Control of Agricultural Vehicles

Abstract: In a typical agricultural field operation, an agricultural vehicle must be accurately navigated to achieve an optimal result by covering with minimal overlap during tillage, fertilizing and spraying To this end, a small scale tractor-trailer system is equipped by using off the shelf sensors and actuators to design a fully autonomous agricultural vehicle To alleviate the task of the operator and allow him to concentrate on the quality of work performed, various systems were developed for driver assistance and semi-autonomous control Real-time experiments show that a controller, which gives a satisfactory trajectory tracking performance for a straight line, gives a large steady-state error for a curved line trajectory On the other hand, if the controller is aggressively tuned to decrease the tracking error for the curved lines, the controller gives oscillatory response for the straight lines Although existing autonomous agricultural vehicles use conventional controllers, learning control algorithms are required to handle different trajectory types, environmental uncertainties, such as variable crop and soil conditions Therefore, adaptability is a must rather than a choice in agricultural operations In terms of complex mechatronics systems, eg an agricultural tractor-trailer system, the performance of model-based and model-free control, ie nonlinear model predictive control and type-2 neuro-fuzzy control, is compared and contrasted, and eventually some design guidelines are also suggested

A model-based framework for increasing the interdisciplinary design of mechatronic production systems

Abstract: Over the past years, the design of production systems has changed rapidly towards complex mechatronic systems, tightly integrating mechanics, electronics and software The development of such integ

Mechatronic components in apple sorting machines with computer vision

Abstract: A mechatronic system is a special application of mechanical engineering with a more focus on automation using emerging technologies such as computer sciences, electronics, and control instead of entirely mechanical elements. In recent years, mechatronics plays an important role in automated food industry. Apple is one of horticultural products that contain valuable nutrient. External appearance of apple is one of the important factors affecting the market price and customer satisfaction. By now, various machines have been developed for automated sorting of fruit and vegetables but still major grading and sorting operations are manually preformed in the packing houses. Computer vision provides an automated, non-destructive, cost-effective and objective technique to satisfy these needs. In this study, various components of the computer vision inspection systems for quality evaluation of apple are reviewed. Recently, infrared (IR) imaging, multispectral imaging (MSI) and hyperspectral imaging (HSI) systems are also being used as advanced techniques, which could acquire high quality spatial and spectral information for online quality and safety inspection of agricultural products. Therefore, the current article includes various research conducted in these domains as well. Finally, different pattern recognition techniques for apple defect detection and the stem-calyx region identification are discussed.

A robust propulsion layout for underwater vehicles with enhanced manoeuvrability and reliability features

Abstract: Design of autonomous underwater vehicles is deeply influenced by required mission specifications. In particular, some activities like inspection of offshore plants or harsh marine environments requ...

Paper mechatronics: present and future

Abstract: Creative iterative development over the past several years has generated an extensive set of computational tools, learning resources, and materials in the realm of paper mechatronics - an educational craft and design approach that weaves computational and mechanical elements into established traditions of children's construction with paper. Here, we both reflect upon our past and recent work of paper mechatronics, then look to the near- to medium-term future to speculate upon both the emerging trends in technology design and expanding learning potential of this medium for children along material, spatial, and temporal dimensions. We summarize lessons learned through various children's workshops with our materials; and we use these lessons as a foundation upon which to create a wide variety of novel tools and activities in educational papercrafting. We speculate upon the frontiers of this work based on current convergences and shifts in tangible creative computational media.

Dynamic Models of Rigid Memory Mechanisms

Abstract: Rigid memory mechanisms have played an important role in the history of mankind, contributing greatly to the industrial, economic, social changes in society, thus leading to a real evolution of mankind. Used in automated tissue wars, in cars as distribution mechanisms, automated machines, mechanical transmissions, robots and mechatronics, precision devices and medical devices, these mechanisms have been real support for mankind along the time. For this reason, I considered useful this paper, which presents some dynamic models that played an essential role in designing rigid memory mechanisms.

Interactive and virtual/mixed reality applications for mechatronics education developed in unity engine

Abstract: The main objective of the proposed project was to improve quality of teaching for graduates and specialists in technical study programs (Applied Mechatronics and Automotive Mechatronics) and related areas of automation using latest ICT technologies, virtual reality and interactive learning in modelling, simulation and control. Visualization of the modelling and control processes of complex mechatronic systems, components and devices (e.g cars, electric vehicles, mechatronic systems in consumer electronics, health care, etc.) in virtual and mixed realities will give students more insight and better understand the studied stuff compared with conventional learning methods.

Knowledge-Based Multidisciplinary Sizing and Optimization of Embedded Mechatronic Systems - Application to Aerospace Electro-Mechanical Actuation Systems

Abstract: The critical short term challenge for contemporary aerospace industrial companies is to design safe, reliable, compact, low power consumption and low environmental impact products, forces driven by economic competition and the increasing expectations of customers and certification authorities. A long-term challenge for these organizations is to manage their knowledge and expertise heritage, which is jeopardized due to forthcoming retirement of the current generation of experts, engineers and technicians. Undertaking these challenges is particularly intricate when it comes to embedded mechatronic systems used in electro-mechanical actuation systems. The design of these complex systems involves heterogeneous knowledge due to the interface of multiple engineering specializations and the interacting physical laws that govern their behaviour. Additionally, embedded mechatronic systems are composed of several interdependent components and sub-systems. Dealing with interdependencies remains a non-trivial and fundamental aspect of modern engineering practice. This can result in costly iterations during the design process and final non-optimal solutions. Multidisciplinary System Design Optimization techniques provide theoretical foundations and computational tools for optimizing large and multidisciplinary systems. Tasks must be performed to apply such techniques for rapid initial sizing of mechatronic products: modelling the design knowledge, partitioning and coordinating the models for system performances analysis and optimization. Algebraic analysis functions are chosen to represent the design models. A new Multidisciplinary System Design Optimization formulation for fast and robust analysis is proposed. A theoretic graph approach using symbolic manipulation to assist designers in formulating large and multidisciplinary problems is outlined. A specific design methodology and its associated framework developed are presented. The general objective is to allow holistic sizing of mechatronic engineering systems with emphasis placed on model reusability and rapid decision making. The methodology is illustrated using a simple aerospace actuation system example. More complex actuation systems are then addressed. First, the design of an electro-mechanical primary flight control actuation system is examined, subsequently; the design methodology is applied to an electrical thrust reverser actuation system.

Efficient Modular Product Platform Design of Mechatronic Systems

Abstract: In today’s unpredictable business environment, manufacturing companies are exposed to increasingly dynamic market conditions and volatilely changing customer expectations. Therefore, the modular product platform approach is increasingly gaining the focus of many industries in order to enable standardization and high level of product individuality at the same time. Especially in the development of new mechatronic products the fulfillment of product functions is realized in mechanics, electronics and software. Therefore, this paper presents a methodology for an increased efficiency of modular product platforms for mechatronic systems. In the first partial model, mechatronic systems are decomposed into individual mechatronic function modules. Subsequently, a classification for degrees of freedom in mechatronic systems is developed. In the third partial model, interactions of the specific degrees of freedom with regard to function fulfilment, costs and interdependencies are examined and represented by key figures. The restriction of systemic degrees of freedom is realized by means of a change propagation algorithm. In a final step, the overall system, consisting of individual mechatronic function modules, can be configured.

Design and testing of an innovative electro-hydraulic actuator for a semi-active differential:

Abstract: The performance of semi-active differential systems is deeply influenced by the way in which they are actuated. Conventional semi-active systems are actuated by pressure-controlled hydraulic actuat...

A Conceptual Design of a Firefighter Drone

Abstract: In this paper, a mechatronic design of a firefighter drone is presented. Unmanned aerial vehicles have been around for years, they present characteristics that aloud them to be used for different purposes. Nowadays, these devices have become more popular and their application increases rapidly in various fields. This paper focuses on the implementation of a low cost device that can help to control a fire. By implementing a mechatronic device, it is possible to spot a fire on time, and extinguish it without risking humans lives. It is an emergency responder device that can assist firemen in fighting high rise fires. The description of the proposed mechatronic system is briefly described, as well as experiments that demonstrate its principal functionality.