3. What Is Mechatronics?
• Mechatronics is a methodology used for the
optimal design of electromechanical
products.
• Multi-disciplinary system design has
employed a sequential design-by-discipline .
• The mechatronic design methodology is
based on concurrent, instead of sequential-
approach to discipline design, resulting in
products with more synergy approach.
8. Mechatronics Key Elements
1-Information Systems
a- Modeling and Simulation
- Modeling is the process of representing the
behavior of a real system by a collection of
mathematical equations and logic.
- Simulation is the process of solving the model
and it is performed on a computer. The process
of simulation can be divided into three sections:
initialization, iteration, and termination
9. b- Automatic Controls
_ Mechatronics appears to be nothing more
than control system engineering.
What is the difference?
• The difference is the sequence of design steps
10. c-Optimization
• Optimization solves the problem of
distributing limited resources throughout a
system such that pre specified aspects of its
behavior are satisfied.
• It is applied to:
. Establish the optimal system configuration
. Identification of optimal trajectories
. Control system design
. Identification of model parameters
11. 2- Electrical Systems
The following electrical components are
frequently used:
- Motors and generators
- Transducers
- Solid state devices including computers
- Circuits (signal conditioning, impedance
matching, amplifiers…)
-Contact devices (relays, circuit breakers,
switches…)
12. 3- Sensors
• Sensors are required to monitor the performance of
machines and processes. Some of the more common
measurement variables in mechatronics systems are
temperature, speed, position, force, torque, and
acceleration.
• The characteristics that are important when one is
measuring these variables include the dynamics of the
sensor, stability, resolution, precision, robustness, size,
- and signal processing.
• The need for less expensive and precise sensors, as
well as integration of the sensor and signal processing
on a common carrier or on one chip, has become
important.
13. 4- Actuators
• Actuation involves a physical acting on the process, such as the
ejection of a workpiece from a conveyor system ini-tiated by a
sensor. Actuators are usually electrical, mechanical, fluid power or
pneumatic based. They transform electrical inputs into mechanical
outputs such as force, angle, and position.
• Actuators can be classified into three general groups.
- Electromagnetic actuators, (e.g., AC and DC electrical motors,
stepper motors, electromagnets)
- Fluid power actuators, (e.g., hydraulics, pneumatics)
- Unconventional actuators (e.g., piezoelectric, magnetostrictive,
memory metal)
• There are also special actuators for high-precision applications that
require fast responses, They are often applied to controls that
compensate for friction, nonlinearities, and limiting parameters.
14. 5- Computer Systems
- Computer system hardware is usually restricted to
computer-specific circuits and devices. These include
logic networks, flip flops, counters, timers, triggers,
integrated circuits, and microprocessors.
- Fast computer hardware is of little value without the
appropriate software
-Assembly language was the first step toward a higher-
Ievel language
-For more powerful (higher-level) programming
languages to be used, compilers were developed. Some
of the most well-known high-level languages are BASIC,
FORTRAN, C, and Pascal.
-Visual languages, including Matrixx, EasyS, SimuLink,
VisSim, and LabView.
15. 6- Real-Time Interfacing
• It is process of fusing and synchronizing model,
sensor, and actuator information is called real-
time interfacing or hardware-in-the-loop
simulation.
• For mechatronics applications real-time
interfacing includes analog to digital (A/D) and
digital to analog (D/ A) conversion, analog signal
conditioning circuits, and sampling theory.
• The main purpose of the real-time interface
system is to provide data acquisition and control
function for the computer.
16. • Signals transmitted through the A/D and D/ A
devices fall into three categories:
. Analog
. Digital
. Frequency
17. Machine cell with robot
Machine cell with robot
13. control valve- pneumatic gripper
14. Tactile sensor- gripper force
15. Servo amplifier- robot arm
16. Control computer- robot control
17. Display- robot status
18. Camera- part identification, guidance
25. The Automobile as a Mechatronic System
• Ignition timing
• Fuel-air ratio
• Lubrication system
• ABS
• Traction control
• Suspension system
• Steering
• IVHS (Intelligent Vehicle Highway System)
26. Using a radar to measure distance and velocity to autonomously maintain desired distance between vehicles.
Autonomous vehicle system design with sensors and actuators.
33. Mobile Actuator-Sensor Network
(MAS-net)
Tasks
• Efficiently deploy a group of mobile
sensors to characterize the
dynamically evolving diffusion
boundary
• Using the same mobility platform,
mobile actuators can actively control
the formation of the diffusion
boundary to a desired zone/shape
35. •Actuated sensors
(mote-based robots)
take “plume” samples
•Wireless communication
system broadcasts commands
to actuated sensors
•Base station makes
plume prediction and
computes sensor locations
•Vision system for
locating sensors
•Air outlet
• Fog “Contaminant”
(orange) introduced
into air stream
•Fan blows
air (green)
through
system
2-D
System
Testbed
Concept
38. The Test Bed: Motes
GUI
Camera Driver
Serial Cable
Parallel Cable
Programming
Board
Mote (MICA Board)
TinyOS
Camera
GUI
Camera Driver
Serial Cable
Parallel Cable
Programming
Board
Mote (MICA Board)
TinyOS
Wireless Communication
Robots
Camera
39. MICA2
(Berkeley)
Control Board (USU)
AVR Atmega
128 (CPU)
CC1000 (Comm.)
2 Encoders
3 IR
(Sharp GP2D12)
2 Photo-
Resistors
2 Servos
Sensors
3V Power
6V Power
2ADC
2 PWM
3 ADC
2 ADC
Hardware Configuration of the
Mobility Platform
40. Software on Mobile Mote
Stack/Xnp
(Comm.)
TinyOS
User
Applications
TinyDB
TinySchema
Low Level
Lib
2 Encoders
2 Servos Other Sensors/Actuators
Other
Utilities of
TinyOS
43. Control System Generalised
Block Diagram
Signal
Conditioning
Feedback
And
Sensors
Process
Power
Electronics
Isolation
And
Buffering
System
Controller
Power Input
Reference
Input
Error
Signal
Control
Effort
Command
and Triggering
Input
Power
Output
Signal
Actual
Value
Digital Controller Analogue Part of System
