Showing papers on "Mechatronics published in 2021"

Fostering STEAM through challenge‐based learning, robotics, and physical devices: A systematic mapping literature review

Abstract: Nowadays, companies are demanding better‐prepared professionals to succeed in a digital society, and the acquisition of Science, Technology, Engineering, Arts, and Mathematics (STEAM)‐related competencies is a key issue. One of the main problems in this sense is how to integrate STEAM into the current educational curricula. This is not something related to a subject or educational trend but rather to new methodological approaches that can engage students. In this sense, such active methodologies that apply mechatronics and robotics could be an interesting path to pursue. Given this context, the first necessary task in evaluating the potential of this approach is to understand the landscape of the application of robotics and mechatronics in STEAM Education and how active methodologies are applied in this sense. To carry out this analysis in a systematic and replicable manner, it is necessary to follow a methodology. In this case, the researchers employ a systematic mapping review. This paper presents this process and its main findings. Fifty‐four studies have been selected out of 242 total studies analyzed. From these, beyond obtaining a clear vision of the STEAM landscape regarding project topics, we can also conclude that robotics and physical devices have been applied successfully with collaborative methodologies in STEAM Education. Regarding conclusions, this paper shows that robotics and mechatronics applied with active methodologies is to be a good means to engage students in STEAM disciplines and thus aid the acquisition of what is commonly known as “21st‐century skills.”

Neurodynamics-Based Model Predictive Control of Continuous-Time Under-Actuated Mechatronic Systems

Abstract: This article addresses neurodynamics-based model predictive control of continuous-time under-actuated mechatronic systems. The control problem is formulated as a global optimization problem based on sampled data, which is solved by using a collaborative neurodynamic approach. The closed-loop system is proven to be asymptotically stable. Specific applications on control of autonomous surface vehicles and unmanned wheeled vehicles are elaborated to substantiate the efficacy of the approach.

Biomechatronic Embedded System Design of Sensorized Glove with Soft Robotic Hand Exoskeleton Used for Rover Rescue Missions on Mars

Abstract: For many years, a manned mission to Mars has been a challenge for humanity. However, the recent technological advances in human factors and space systems engineering may overcome these limitations. Thus, there are some strategies to face various medical emergencies autonomously due to long distances and hostile conditions in order to develop healthcare monitoring and ensuring the safety of the astronauts. For this reason, an innovative research has been conducted from 2020 to 2021 under the supervision of the Bioastronautics & Space Mechatronics Research Group, resulting in this proposed project, which is a sensorized glove for medical emergencies controlling the rover developed by the Team “Tharsis” from the Universidad Nacional de Ingenieria, winner of the Technology Challenge Award for Wheel Design and Fabrication at the 7th Annual NASA Human Exploration Rover Challenge. In addition, the glove has a soft robotic hand exoskeleton with the purpose of fracture stabilization and to prevent future complications. This study presents a mechatronics conceptual design based on biomechanical fundamentals of the hand, where Fusion 360 was used for 3D mechanical systems development and Eagle for electrical and electronic circuit technical schematics, besides telecommunications and telerobotics protocols are analyzed. The “BIOX-GLOVE” is pretended to be applied on the Martian surface during extravehicular activities-EVA and also, on Earth in a Mars environment analogue and rehabilitation hospitals. In conclusion, favorable results were achieved; consequently, the next step of this project is to start the detailed engineering design in July 2021, and it is proposed to develop the prototype and perform the first test in a Martian analog.

Mechatronic Systems Design of ROHNI-1: Hybrid Cyber-Human Medical Robot for COVID-19 Health Surveillance at Wholesale-Supermarket Entrances

Abstract: The critical situation of COVID-19 widespread in Peru from the beginning of year 2020, has been maximized by the avoidance of social distancing reflected in crowded public places where most people go without any personal protective equipment (PPEs) leading to higher risk of virus transmission. Therefore, an innovative research has been conducted in 2020 under the supervision of the Mechatronic Engineering Laboratory at Ricardo Palma University and Bioastronautics & Space Mechatronics Research Group, resulting in the proposed project named “ROHNI-1” medical robot, as Social Humanoid Machine, that is going to be located at the entrance of a wholesale-supermarket. It is composed by 3 wheels in the chassis-base and 2 anthropomorphic arms of 4 DOF each. In order to perform an efficient human-machine interaction, it can develop 3 functions such as Detection of mask, Disinfection of hands and Monitoring of vital signs. This study presents a mechatronics conceptual design using the software SolidWorks 2020 for 3D mechanical systems development, Proteus 8 for electrical and electronics circuit technical schematics, and also, Matlab 2020a for kinematic motion testing of the robotic arms. In conclusion, favourable simulation results were achieved; the robot manufacturing is expected to be ready by 2021, and due to frugal-innovation engineering analysis, it is planned to be donated to Latin American countries working with supermarket-chains.

Virtual Reality-Based Training: Case Study in Mechatronics

Abstract: This paper introduces, explains and illustrates real-life application of virtual training tool for electrical engineering education. The tool gives users the opportunity to interact with and manipulate 3D models of authentic devices. The users have a possibility to compare structural differences between devices, assemble and disassemble the machines and test them under extreme conditions, all of which would not be possible while working with a real device. The 3D devices are fully operational allowing the users to interact with them on every level, including analysis of impact of supply conditions i.e. modify voltage and frequency of a particular motor and monitor changes in performance while still operating. The main goal of this research was to evaluate effectiveness and educational values of the proposed tool. Early studies and feedback from educators and students prove this tool to be a great assistance to process of education, facilitating knowledge acquisition and providing an innovative way to put theory into practice.

Biomedical Mechatronic Device iTakuna: Smart Embedded System for Electric Wheelchair used by Paraplegic Patients

Abstract: In Peru there are approximately 932,000 people with disabilities, 59.2% of them have mobility problems. These people can not carry out activities inside or outside their home, thus affecting their daily life. Therefore, this study has been conducted from 2014 to 2020 at the Mechatronics Engineering Laboratory of Ricardo Palma University in Peru; resulting in the proposed project titled iTakuna, an intelligent embedded system for wheelchairs used by paraplegic patients in order to bring comfort and autonomy, which can be found in clinics, hospitals and homes. The device is composed of 8 sensors capable of detecting objects up to 3 meters away, power drivers for controlling the motors, controlled by fuzzy logic. The device was developed using SolidWorks software for 3D design; Proteus, for the design of electronic boards and simulation of electronic components, and Simulink for mechatronics analysis. Finally, it was designed, manufactured and implemented obtaining the expected results. Likewise, the Graphical User Interface (GUI) developed turned out to be friendly and intuitive for the patient. It is expected to reach a mass manufacturing level and can be used in clinics and hospitals.

Digital Twins in Mechatronics: From Model-based Control to Predictive Maintenance

Abstract: Fault diagnosis systems are essential in precision mechatronics to facilitate maintenance and to minimize downtime. The aim of this paper is to describe the current trend in control for precision mechatronics and the related future challenges for digital twin-assisted predictive maintenance as well as recently developed approaches. The future generation of fault diagnosis systems is envisaged to rely on identified physics-based models, enriched by the available real-time data from a large number of sensors and actuators.

Mechatronics Equipment Performance Degradation Assessment using Limited and Unlabeled Data

Abstract: Advanced mechatronics equipment requires reliable and effective performance degradation assessment to guarantee long-term operations. Current data-driven predictions endow the operation and maintenance of mechatronic equipment flexibly and intelligently. However, the sufficient and labeled data in real industrial scenes may not be satisfied, resulting in negative impacts of overfitting and time-consuming annotations. We propose a novel prognostic model, namely unsupervised meta gated recurrent unit (UMGRU) containing a dual-cycle learning architecture with the designed clustering assignment module to deal with few-shot prognostics under unlabeled historical data. It integrates the strength of double gradient based optimizations for abstracting general degradation knowledge and offering a sensitive model status for precisely online adaptation with limited on-site data. Besides, mini-batch pseudo labels are automatically assigned within each inner cycle learning and further participate in parameter upgrades. Finally, both experimental and industrial data are used to verify the effectiveness of UMGRU.

Pushing Mechatronic Applications to the Limits via Smart Motion Control

Abstract: Modern machines strive to run at limit performance and dependability while their operational area and size are getting restricted. To achieve those objectives, often swift integration of custom-made subsystems is required, either actuators, sensors, electronic, or SW modules. Such a diverse suite of elements needs specific approaches and tools for fast optimization and adjustment following model-based system engineering (MBSE) and digital twinning principles. The large-scale I-MECH project was an industry-driven initiative striving to give a scientific response to those demands. The intermediate results were summarized in the authors’ previous work. The purpose of this paper is to report on final project results, namely specific performance achievements and figures based on measurable KPIs. After a brief description of key technologies, special focus is given to industrial printing technology based on a generic substrate carrier. However, it is shown that similar and consistent methodology can be applicable in many other industrial domains, such as semiconductors, healthcare robotics, machining, packaging, etc. Thus, the main merit of this survey is a holistic approach to motion control design.

Digital Twins Enabled Remote Laboratory Learning Experience for Mechatronics Education

Abstract: Laboratory intensive assignments and hands-on skills are important components in Mechatronics and Control Engineering by their nature. Like many other educational services, lots of the contents including laboratory studies are switched to remote learning due to COVID-19. In this work, the need for remote laboratory assignments is transformed into an opportunity to use Digital Twins in the education effectively. Laboratory assignments are designed on top of the concept of Digital Twin applications for the course “ME-142: Mechatronics” at the University of California, Merced. Basic mechatronics simulation skills are enhanced using the foundational applications in MATLAB/Simulink. After students reached high confidence level in the simulation environment, the concept of Digital Twins is introduced for subsequent laboratory assignments consisting identification, modeling, analysis, controller design and validation. Through the end of the semester, students are expected to work in groups of six for the course project to create their own applications of Digital Twin for a variety of systems. Finally, Digital Twin applications are posted online using MATLAB Web App Server to enhance accessibility and compensate the lack of hardware interaction.

Artificial Intelligence: Prospect in Mechanical Engineering Field—A Review

Abstract: With the continuous progress of science and technology, the mechanical field is also constantly upgrading from traditional mechanical engineering to the mechatronics engineering and artificial intelligence (AI) is one of them AI deals with a computer program that possesses own decision-making capability to solve a problem of interest with imitates the intelligent behavior of expertise which finally turns into higher productivity with better quality output From the inception, various developments have been done on AI system which nowadays widely implemented in the mechanical and/or manufacturing industries with broaden area of application such as pattern recognition, automation, computer vision, virtual reality, diagnosis, image processing, nonlinear control, robotics, automated reasoning, data mining and process control systems In this study, review attempt has been made for AI technologies used in various mechanical fields such as thermal, manufacturing, design, quality control and various connected fields of mechanical engineering The study shows the blend mixed of AI technologies like deep convolutional neural network (DCNN), convolutional neural network (CNN), artificial neural network (ANN), fuzzy logic and many more to control the process parameters, process planning, machining, quality control and optimization in the mechanical era for smooth development of product or system With the implementation of AI in mechanical engineering applications, the error, rejection of components can be minimized or eliminated and system optimization can be achieved effectively turn in economical better quality products

Cognitive and Cybernetics based Human Adaptive Mechatronics System in Gait Rehabilitation Therapy

Abstract: Human adaptive mechatronics [HAM] is an intelligent form of man machine interface system HAM system adapts itself to user ability to carry out their routine task under constrained environments and also improves the functional motor skill It assists the elderly person suffering from gait disorder to achieve enhanced ability in doing daily task by their own The HAM system assisting the elderly or disabled person will adapt to the user gait phase and consume low metabolic energy With the short fall of availability of nursing assistant in near future the HAM systems becomes ineluctable Objective of this research is to synthesize the current knowledge about HAM and various human factors in the application of adaptive mechatronics system used for restoring muscle function with supporting device in rehabilitation therapy In depth analysis on related articles orthotic assisting system and technologies like medical electronics, cybernetics, robotic knee assistive devices used in rehabilitation therapy are reviewed along with its merits and limitations This article presents an overview of fundamental technologies used for adaptive rehabilitation therapy, suggesting the need to examine this information in a comprehensive review for designing human adaptive mechatronics system

Design Thinking in Digital Innovation Projects—Exploring the Effects of Intangibility

Abstract: The locus of innovation has shifted from mechanical advances to digital solutions. By emphasizing the importance of user needs, Design Thinking is apt to develop human-centered innovation, including digital solutions. Using two representative examples from 21 Design Thinking projects spanning the gamut of mechatronic to fully digital solutions, we report on critical incidents as opportunities and challenges of applying Design Thinking in a digital context. In the case of mechatronic solutions, we identified opportunities related to improved collaboration and higher quality prototyping as well as in innovative business models, which in turn created challenges in managing stakeholders. In the fully digital context, we observed opportunities in improved needfinding and the ability to offer individualized products. Conversely, we uncover difficulties in imagining digital features, estimating their feasibility, and correctly setting the fidelity of prototypes. Based on these observations, we discuss the intangibility of digital artifacts as enabler and inhibitor of Design Thinking in a digital context.

Robotics as a Tool to Awaken Interest in Engineering and Computing Among Children and Young People

Abstract: Training is critical on engineering and technology disciplines, and it must be used to encourage today’s children and youngsters to become the engineers and scientists of the future. For this reason, the Techno Museum Project carried out a series of workshops that used robotics as a motivational item to bring electronics and programming closer to children from 6 to 18 years. These topics are, a priori, commonly considered complex. The effects of these experiences on engineering and science understanding were analyzed. This work presents those analyses, which prove that learning scenarios based on the use of robotic equipment increases the motivation and curiosity of children and young people towards the use of new technologies. Motivation promotes their will to understand engineering and science. The paper shows the processes carried out by the Techno Museum Project. As for the results, a set of questions was asked to each of the participants in the experience. We will conclude that the use of mechatronics and robotics on education is a powerful motivational tool to enhance the interests of children and young people with minimal training on science and engineering.

User-Centered Design and Development of the Modular TWIN Lower Limb Exoskeleton.

Abstract: For decades, powered exoskeletons have been considered for possible employment in rehabilitation and personal use. Yet, these devices are still far from addressing the needs of users. Here, we introduce TWIN, a novel modular lower limb exoskeleton for personal use of spinal-cord injury (SCI) subjects. This system was designed according to a set of user requirements (lightweight and autonomous portability, quick and autonomous donning and setup, stability when standing/walking, cost effectiveness, long battery life, comfort, safety) which emerged during participatory investigations that organically involved patients, engineers, designers, physiatrists, and physical therapists from two major rehabilitation centers in Italy. As a result of this user-centered process, TWIN's design is based on a variety of small mechatronic modules which are meant to be easily assembled and donned on or off by the user in full autonomy. This paper presents the development of TWIN, an exoskeleton for personal use of SCI users, and the application of user-centered design methods that are typically adopted in medical device industry, for its development. We can state that this approach revealed to be extremely effective and insightful to direct and continuously adapt design goals and activities toward the addressment of user needs, which led to the development of an exoskeleton with modular mechatronics and novel lateral quick release systems. Additionally, this work includes the preliminary assessment of this exoskeleton, which involved healthy volunteers and a complete SCI patient. Tests validated the mechatronics of TWIN and emphasized its high potential in terms of system usability for its intended use. These tests followed procedures defined in existing standards in usability engineering and were part of the formative evaluation of TWIN as a premise to the summative evaluation of its usability as medical device.

Optimizing Management of Jobs in a Logistic Project Under Conditions of Uncertainty

Abstract: Methods of solving tasks of optimizing the execution of a project‘s jobs in the field of logistics, taking into account uncertainty, are developed. Using the methods of operations research, mathematical models of the processes under study are constructed and methods for solving the problems under consideration are formulated. A number of examples are given that demonstrate the possibilities of using the described methods and models in practice.

In-home laboratory for learning automation at no cost

Abstract: In this paper, it is shown the development of a remote lab for distance learning of practical contents, due to the contingency caused by the pandemic of the Covid-19. The proposed remote lad has the advantages of building it without the need for monetary investment and that it can be implemented in a short time. To validate the proposal, a remote lab was set up and used in a couple of courses, Industrial Networks and Logical Automatism, from the Mechatronics Engineering program. After the experimentation and the analysis of the information, it is concluded that the proposal contributes heavily to the student's knowledge, besides generating motivation and engagement in the students. Similar results have been observed between the learning obtained in the classroom format and the one achieved with the use of the proposed remote laboratory.

Multifunctional Technology of Flexible Manufacturing on a Mechatronics Line with IRM and CAS, Ready for Industry 4.0

Abstract: A communication and control architecture of a multifunctional technology for flexible manufacturing on an assembly, disassembly, and repair mechatronics line (A/D/RML), assisted by a complex autonomous system (CAS), is presented in the paper. A/D/RML consists of a six-work station (WS) mechatronics line (ML) connected to a flexible cell (FC) equipped with a six-degree of freedom (DOF) industrial robotic manipulator (IRM). The CAS has in its structure two driving wheels and one free wheel (2 DW/1 FW)-wheeled mobile robot (WMR) equipped with a 7-DOF robotic manipulator (RM). On the end effector of the RM, a mobile visual servoing system (eye-in-hand VSS) is mounted. The multifunctionality is provided by the three actions, assembly, disassembly, and repair, while the flexibility is due to the assembly of different products. After disassembly or repair, CAS picks up the disassembled components and transports them to the appropriate storage depots for reuse. Technology operates synchronously with signals from sensors and eye-in-hand VSS. Disassembling or repairing starts after assembling and the final assembled product fails the quality test. Due to the diversity of communication and control equipment such as PLCs, robots, sensors or actuators, the presented technology, although it works on a laboratory structure, has applications in the real world and meets the specific requirements of Industry 4.0.

Adaptive control of a mechatronic system using constrained residual reinforcement learning.

Abstract: We propose a simple, practical and intuitive approach to improve the performance of a conventional controller in uncertain environments using deep reinforcement learning while maintaining safe operation. Our approach is motivated by the observation that conventional controllers in industrial motion control value robustness over adaptivity to deal with different operating conditions and are suboptimal as a consequence. Reinforcement learning on the other hand can optimize a control signal directly from input-output data and thus adapt to operational conditions, but lacks safety guarantees, impeding its use in industrial environments. To realize adaptive control using reinforcement learning in such conditions, we follow a residual learning methodology, where a reinforcement learning algorithm learns corrective adaptations to a base controller's output to increase optimality. We investigate how constraining the residual agent's actions enables to leverage the base controller's robustness to guarantee safe operation. We detail the algorithmic design and propose to constrain the residual actions relative to the base controller to increase the method's robustness. Building on Lyapunov stability theory, we prove stability for a broad class of mechatronic closed-loop systems. We validate our method experimentally on a slider-crank setup and investigate how the constraints affect the safety during learning and optimality after convergence.

A holistic survey on mechatronic Systems in Micro/Nano scale with challenges and applications

Abstract: Micro/Nano mechatronic systems might be defined as systems that include nano- or micro-scale components. These components can be sensors, actuators, and/or physical structures. Furthermore, the high-precision control laws for such small scales are important to ensure stability, accuracy, and precision in these systems. In this writing, four categories of such small-scale systems are considered by providing multifarious novel or key examples from the literature: control engineering and modeling, design and fabrication, measurement engineering, and sensor/actuator development. The applications discussed in the examples vary from nano-positioners, crucial in systems such as atomic force microscopes, to biological sensors like carbon nano-tubes that respond to chemical or molecular stimuli. It is observed that in many instances, especially in micro−/nano-robots, the categories overlap for the completion of a system that needs to be small in size, to be controllable with high accuracy, to have high precision sensing capacity, and finally to be able to carry out submillimeter measurements. Thus, a holistic point of view upon such systems is necessary for future applications. This paper does not limit the type of sensors or actuators to the industrial ones and extends the investigated examples to encompass biological sensing and actuating mechanisms that respond to chemical stimuli, proposing for the inclusion of these units in nano−/micro-mechatronic systems intended to be used in human body or other bio-environments. Several other research opportunities are discussed, challenges in the field are identified, and some propositions are put forward for future directions.