Backlash fault detection in mechatronic system

In this paper, a fault detection and isolation model based method for backlash phenomenon is presented. The aim of this contribution is to be able to detect then distinguish the undesirable backlash from the useful one inside an electromechanical test bench. The dynamic model of the real system is derived, using the bond graph approach, motivated by the multi-energy domain of such mechatronic system. The innovation interest of the use of the bond graph tool, resides in the exploitation of one language representation for modelling and monitoring the system with presence of mechanical faults. Fault indicators are deduced from the analytical model and used to detect and isolate undesirable backlash fault, including the physical system. Simulation and experimental tests are done on electromechanical test bench which consists of a DC motor carrying a mechanical load, through a reducer part containing a backlash phenomenon.     

Piezomechanics as a subsystem of mechatronics: present state of theart, problems, future developments

The concept of piezomechanics (piezoelectricity+mechanics+a control system) describing a complex interaction of dynamic effects and precision engineered devices is discussed. Piezomechanics is considered as part of the more broad philosophy of mechatronic devices. The object and structure of piezomechanics are presented as well as the primary linear and nonlinear effects, on which energy, motion and signal transformation processes are based. Novel applications are proposed to illustrate the potential benefits, including adaptive mechanical systems in addition to multifunctional and intelligent devices     

Interface model enabling decomposition method for architecture definition of mechatronic systems

Solving a complex problem often requires a way to break it down into smaller, interconnected and manageable sub-problems, and then to join them together. The concept of breaking down a problem into smaller pieces is generally referred to as decomposition. The design of mechatronic systems is an example of such complex problems, as it is based on the integration of several disciplines, such as mechanical, electrical and software engineering. Decomposition is thus a common technique to help designers to obtain solutions for the design of mechatronic systems during the systems engineering process. However, an effective decomposition method which can fully solve the design problems of mechatronic systems has not yet been proposed in systems engineering.The goal of the paper is to formalise this decomposition method based on an interface model. This method is applicable to the architecture definition in the context of the design of mechatronic systems during their conceptual design phase. The proposed decomposition method provides designers with high-level guidance to help them to achieve the appropriate hierarchies and granularities for the architecture of mechatronic systems. The proposed decomposition method is applied and demonstrated using the systems engineering practices of a 3D measurement system.     

Pole selection of feedforward compensators considering bounded control input of industrial mechatronic systems

A new pole selection method for feedforward compensators of mechatronic servo systems is presented in this paper. It is necessary to have the system poles located at desirable positions on the s-plane in order to realize better servoing performance. However, selection of new poles is not a straightforward problem and in most industrial mechatronic systems, it has been a mere cut-and-dry procedure. In this research, feedforward compensator poles are related to the control input, and a criterion was developed to determine the desirable poles that improve the control input within its limits. This method was developed for the second-order model and it was simulated and experiments were performed with the Performer MK3s articulated industrial robot manipulator. Some attractive results have been obtained with the new method.     

Design for control-a concurrent engineering approach formechatronic systems design

The well-accepted basis for developing a mechatronic system is a synergetic concurrent design process that integrates different engineering disciplines. In this paper, a general model is derived to mathematically describe the concurrent design of a mechatronic system. Based on this model, a concurrent engineering approach, called design for control (DFC), is formally presented for mechatronic systems design. Compared to other mechatronic design methodologies, DFC emphasizes obtaining a simple dynamic model of the mechanical structure by a judicious structure design and a careful selection of mechanical parameters. Once the simple dynamic model is available, in spite of the complexity of the mechanical structure, the controller design can be facilitated and better control performance can be achieved. Four design scenarios in application of DFC are addressed. A case study is implemented to demonstrate the effectiveness of DFC through the design and control of a programmable four-bar linkage     

利用UG软件建立机械电子产品三维设计平台

对利用UG软件建立机械电子产品三维设计平台进行了探讨,提出了统一公共环境参数、定制模板、模式文件、建立标准件及公用件库、规范文件命名及目录体系等方面的解决方案。该方案已经成功应用于机械电子产品三维结构设计的工程应用中,明显提高了设计效率和质量。     

Accurate contour control of mechatronic servo systems usingGaussian networks

This paper presents a method of contour control of mechatronic servo systems by using neural networks. The neural network learns the inverse dynamics of the mechatronic servo system. The input data for the mechatronic servo systems are modified from objective trajectories by using the neural network. The Gaussian network is adopted to construct the inverse dynamics of the mechatronic servo system because the Gaussian function is well defined, and its structure and initial parameters can be systematically selected such that the initial network approximates the inverse dynamics of the mechatronic servo system. The actual input/output data of the mechatronic servo system are used for the learning of the Gaussian network. Effectiveness of the proposed method is assured by experimental results of contour control of an X-Y table     

System-Based and Concurrent Design of a Smart Mechatronic System Using the Concept of Mechatronic Design Quotient (MDQ)

A mechatronic system needs an integrated, concurrent, and system-based design approach due to the existence of interactions among its subsystems, and also the existence of interactions between the criteria involved in a realistic evaluation of a mechatronic product. This paper presents a systematic methodology for a detailed mechatronic design based on a mechatronic design quotient (MDQ). MDQ is a multicriteria index, reflecting a system-based evaluation of a mechatronic design, which is calculated using soft computing techniques, thereby accommodating interactions between criteria and human experience. A niching genetic algorithm is utilized to explore the huge search space raised due to concurrent and integrated design approach, with the aim to find the elite representatives of different possible configurations. To demonstrate the method, it is applied to an industrial fish cutting machine called the Iron Butcher-an electromechanical system that falls into the class of mixed or multidomain systems.     

The Interconnection of MRI Scanner and MR-Compatible Robotic Device: Synergistic Graphical User Interface to Form a Mechatronic System

MRI scanner and magnetic resonance (MR)-compatible robotic devices are mechatronic systems. Without an interconnecting component, these two devices cannot be operated synergetically for medical interventions. In this paper, the design and properties of a graphical user interface (GUI) that accomplishes the task is presented. The GUI interconnects the two devices to obtain a larger mechatronic system by providing command and control of the robotic device based on the visual information obtained from the MRI scanner. Ideally, the GUI should also control imaging parameters of the MRI scanner. Its main goal is to facilitate image-guided interventions by acting as the synergistic component between the physician, the robotic device, the scanner, and the patient.     

Mechatronic design of a ball-on-plate balancing system

This paper discusses the conception and development of a ball-on-plate balancing system based on mechatronic design principles. Realization of the design is achieved with the simultaneous consideration towards constraints like cost, performance, functionality, extendibility, and educational merit. A complete dynamic system investigation for the ball-on-plate system is presented in this paper. This includes hardware design, sensor and actuator selection, system modeling, parameter identification, controller design and experimental testing. The system was designed and built by students as part of the course Mechatronics System Design at Rensselaer.     

Realization of a Reaction-Diffusion CNN Algorithm for Locomotion Control in an Hexapode Robot

In this paper a reaction-diffusion CNN is implemented to generate and adaptively control locomotion in a biologically inspired walking robot. In particular a dedicated CNN development system has been realised to make the mechatronic device able to select, based on sensory stimuli, the most suitable locomotion type according to the environment. The first example of analog implementation of the biological paradigm of the Central Pattern Generator is therefore presented.     

Modeling, simulation, and model-based control of the walkingmachine ALDURO

The system under investigation is the hydraulically driven autonomous large scale-combined legged and wheeled vehicle, the anthropomorphically legged and wheeled Duisburg robot (ALDURO). In this paper, a complete mechatronic simulation model, realized in the object-oriented programming language C++, is presented. It contains the mechanical system including an explicit solution of the kinematic loops, a model of the ground contact, and the dynamics of the complete hydraulic system, as well as a force-based motion control concept based on an exact input-output linearization using decentralized force controllers. Some simulation results are shown to demonstrate the function of the simulation model and the control concept presented     

Guest Editorial Introduction to the Focused Section on Medical Mechatronics

The six papers in this focused section were originally presented at the first IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob'06), held February 20-22, 2006, in Pisa, Italy. The first three papers illustrate mechatronic devices for rehabilitation applications; the fourth paper presents a mechatronic system for disabled people; and the last two papers deal with mechatronic devices and technologies for minimally invasive and teleoperated surgery. The papers are summarized here.     

An almost comprehensive approach for the choice of motor and transmission in mechatronics applications: Motor thermal problem

This paper deals with the choice of motor and transmission in mechatronic applications by means of an approach in which all the following aspects related to the transmission are taken into account from the outset: the limits of speed and torque of the transmission; the alternation in the reference task of direct and inverse efficiency of the transmission, which can also be functions of the motor speed; the transmission inertia. In this paper only the continuous duty operating range of the drive system is considered. The method is based on the determination of the motors that can be coupled with a given transmission and is explained by means of resolving diagrams. The guidelines of an automatized procedure for the determination of the admissible drive system-transmission couples are traced and a case study is presented.     

收发组件测试技术研究

针对有源相控阵雷达系统研制生产中大量的收发组件测试工作,提出了一种改进的收发组件的测试方法.针对不同的应用需求,分别介绍了典型的收发组件测试系统及改进型的测试系统.在改进型测试系统中,采用了一种基于单片杌的核心控制板对收发组件的电源和工作时序进行保护.并提出了一种基于核心控制板的收发组件测试系统组建方案,该测试系统方案自动化程度高、通用性强并对测试过程具有完善保护.该方案组建的测试系统,具有测试效率高、人工操作少及组建成本低等优点.     

A design paradigm for mechatronic systems

Concepts of mechatronics are applicable in the design of complex and multi-domain dynamic systems. This paper presents an approach based on the mechatronic design quotient (MDQ) for systematic design of a mechatronic system. Traditional procedures of design are hierarchically separated into topological design and parametric design. Extending this concept, an MDQ may be “structured” into a multi-layered hierarchy. The approach and significance of the application of MDQ in mechatronic design are indicated using illustrative examples.     

Optomechatronic Technology: The Characteristics and Perspectives

In recent years, optical technology has been incorporated into mechatronic systems at an accelerated rate, and as a result, a great number of machines/systems with smart optical components have been introduced. This integrated technology is termed “optomechatronics.” This paper introduces the fundamental concept, definition, and characteristics of the technology by analyzing the characteristics of a variety of practical optomechatronic systems. The introduction describes how optical and mechatronic components are physically coupled to each other to form optomechatronic integration. With this observation, we describe the nature and integration concept of the technology, from which we can derive the technology-driven fundamental functionalities in some detail. Based upon the knowledge on basic optomechatronic integration and functions, we analyze optomechatronic systems in general from the viewpoint of system configuration and design and, thus, the roles of optical technology in overall system performance being learned and the synergistic effects due to its fusion with mechatronics being understood.     

基于故障检测和可靠性约束的传感器布局优化

传感器布局优化是实现机电设备机内测试(BIT)系统设计优化的重要方法之一,保证系统对检测目标具有较好的检测效能是传感器布局优化的重要约束.通过测试信息模型分析,可知传感器自身可靠性问题将会影响系统效能的实现.本文在分析传感器故障概率对测试系统故障检测效能的影响的基础上,以传感器的故障概率和最小及传感器总价格最小为优化目标,以故障检测率、故障隔离率及虚警率为约束,基于系统故障——传感器的测试信息模型,设计并构建了一个传感器布局多目标优化的非线性整数规划模型(MINLP),对其求解可得到BIT系统的传感器布局优化设计方案,并以某伺服BIT系统为例进行优化设计分析.