Mechatronic Principles Research Articles

An approach for the optical and mechanical design of an X-ray beamline: application to the plane-wave CDI station CATERETÊ/SIRIUS

Experiments involving nano-focusing or coherence applications require positional stability of a few nanometers and angular stability of tens of nanoradians for all critical optical components along the beamline (in the range of 1 Hz up to 2.5 kHz). Several optical components based on high-precision mechatronics principles with optimized dynamics to cope with those stability requirements have been recently designed and developed at LNLS. An approach combining optical and mechanical design methodologies and processes was applied to new beamline projects. The process starts with optical design using ray-tracing and wave propagation simulations aiming for the specified beam parameters. In a second step, alignment tolerances and stability issues are addressed in the mechanical design of each component. If those requirements cannot be reached in the predictive models based on the available technologies, size and shape of the optics itself or the optical scheme may be redefined restarting the optical simulation. This work applies this beamline design process to the CATERETÊ beamline, which allows for plane-wave CDI experiments. Using side-bounce deflecting cylindrical mirrors and a four-crystal monochromator, a focused beam size of ~ 40 x 30 μm2 (at 9 keV) with a depth-of-focus of 12 m (plane-wave) and high degree of coherence is obtained. We review key aspects of the optical and mechanical designs. In addition, we further extend the modelling process to enable systematic commissioning support by simulating beam parameters on diagnostic elements located downstream each optical element.

A review on the High-Dynamic Double-Crystal Monochromator for Sirius/LNLS

The High-Dynamic Double-Crystal Monochromator (HD-DCM) started to be developed in 2015 by the Brazilian Synchrotron Light Laboratory (LNLS) for the 4th-generation light source Sirius. The reason for the unique and innovative control-based architecture was twofold, namely: 1) reaching the unprecedented target of 10 nrad RMS (root mean square) (1 Hz - 2.5 kHz) in crystals parallelism for a vertical-deflection DCM, to comply with the smaller new-generation source sizes; and 2) unlocking the potential of high-stability fixed-exit continuous energy scans, creating unmatching spectroscopy capabilities that benefit from the higher new beam brightness. The outcome is a machine built on essential high-precision mechatronics principles, with an integrated design for optimized dynamics, actuation, metrology, and thermal aspects. The first two units are operational at the MANACA (protein crystallography) and the EMA (extreme conditions and spectroscopy) undulator beamlines. This work reviews the key aspects of this new technology and presents experimental commissioning results at the beamlines, including high-quality energy continuous fly-scans up to 500 eV/s over 1 keV that demonstrate the good performance for X-ray spectroscopy by keeping inter-crystals stability below 15 nrad RMS up to 10 kHz. Preliminary EXAFS data collected at the EMA beamline at 1 keV/s is also shown. Furthermore, a discussion is held about the required beamline integration level, since the high-end experiments demand appropriate control strategies, data acquisition, triggering and performance capabilities, particularly concerning the source, the sample environment, and the detectors.

РАЗРАБОТКА МЕХАТРОННОЙ СИСТЕМЫ КОНТРОЛЯ БИОЛОГИЧЕСКИХ ПАРАМЕТРОВ КРОВИ

The development of instruments and control devices in medicine is aimed at achieving the quality of complex manipulation operations. The use of mechatronic principles for the construction of automatic devices ensures the creation of new methods and instruments for laboratory analyses. We have developed a mechatronic system of the device for a noninvasive method for determining the concentration of blood glucose on the basis of modeling the correlation between systemic hemodynamic parameters and biological parameters of blood. A functional multivariate analysis was carried out, a computer program was compiled, and mathematical regression formulas were obtained for calculating the level of blood glycaemia based on blood pressure indicators. The mechatronic system includes functional blocks for measuring blood pressure parameters, a control microcontroller for calculating and monitoring blood glucose levels in accordance with the application program.The system is implemented in the form of a noninvasive device «Omelon B-2», which provides the transfer of indicators to the display of the device, communication with the base computer of the system, analysis of the results and creation of a database. The blood glucose measurement range is from 2 to 20 mmol/l. The relative error of the analysis in comparison with laboratory parameters is 17-22%.

Object-oriented design of packaging machines on the principles of mechatronics

Object-oriented design of packaging machines on the principles of mechatronics

A Novel Mechatronics Approach to Measure The Payload of Heavy Duty Vehicle

Abstract We are in an era of MEMS and NEMS, to be precise a product with lean and an integral of ‘n’ number of electromechanical elements. For example, nearly 80% of components are electrical/electronics in an automobile unit. This leads to think on the future market, that would witness a paradigm shift from Mechanical centric systems to Mechatronics systems. An approach was implemented in this paper to see through how a measurement of physical parameter can be dealt with principles of Mechatronics. Measurement of heavy duty vehicles payload is a concern, as there exists a difficulty in identifying the location and capacity of weigh bridge units. To address this issue an experimental and simulation approach was adopted to quantify/correlate the results.

English

An automated single-line table egg sorting machine that integrates machine vision and mechatronics principles was developed in this study. The machine was fabricated using low cost and locally available materials. The developed machine was composed of the feeding unit, computing unit and the sorting unit. The conveyor was powered by a 12V DC geared motor, and the sorting arm was actuated by a DC servo motor which positions the arm. A machine vision software, EGGSoTiC, was used in the sorting of the table eggs – moving through a conveyor at 13 cm-s-1. Test for similarity of readings revealed that the developed machine is capable of yielding consistent results with low values of coefficient of variation ranging from 0.38 to 0.85 mm2 and 0.42 to 0.94 g for the projected area and estimated weight, respectively. Results of dynamic test for 100 table egg samples indicated that the machine could sort table eggs with an accuracy of 91% at 2.52 seconds per sample, yielding a projected capacity of 1,426 eggs per hour. Results also indicated that there were no large errors in the estimation of weights yielding a root mean square error of 1.90 g which is not significantly higher than the bias of 0.93 g. Key words: Machine vision, table eggs, sorting, mechatronics.

Investigation on the critical parameters affecting the working design dynamics of a torque motor employed in an electro-hydraulic servovalve

The torque motor is an intricate assembly in electro-hydraulic technology and plays a crucial role in converting the electrical signal into controlled mechanical output signal. It involves many precise components, such as the feedback spring, armature and its coil, permanent magnet, feed pipe, flexure shaft, jetpipe, and flexure support. The components are embedded together as a single operating component. Each component contributes to the effective dynamics of the system. The present paper proposes a novel approach to investigate the effect of critical parameters on the working design dynamics of the torque motor employed in the jetpipe electro-hydraulic servovalve. Based on the principles of mechatronics, a mathematical model is developed. The model-based design approach is employed to investigate the dynamics of the system. The required simulation parameters of the critical and precision components were obtained from solid and finite element (FE) models. The solid and FE models of the critical and precision components were first analyzed with suitable boundary and loading conditions to establish the stiffness. To validate the obtained FE results, experiments were carried out with a specially designed and fabricated test set-up. Based on the basic principle of electromagnetics, a nonlinear FE model of torque motor is analyzed for magnetic field distribution, the torque developed, and armature and jetpipe deflection for varied input current. From the results obtained, good agreement was observed between FE, simulated, and experimental values. The present novel approach enables one to improve the working design dynamics of the torque motor.

Actuator With Angle-Dependent Elasticity for Biomimetic Transfemoral Prostheses

Despite tremendous improvements in recent years, lower-limb prostheses are still inferior to their biological counterparts. Most powered knee joints use impedance control, but it is unknown which impedance profiles are needed to replicate physiological behavior. Recently, we have developed a method to quantify such profiles from conventional gait data. Based on this method, we derive stiffness requirements for knee prostheses, and we propose an actuation concept where physical actuator stiffness changes in function of joint angle. The idea is to express stiffness and moment requirements as functions of angle, and then to combine a series elastic actuator (SEA) with an optimized nonlinear transmission and parallel springs to reproduce the profiles. By considering the angle-dependent stiffness requirement, the upper bound for the impedance in zero-force control could be reduced by a factor of two. We realize this ANGle-dependent ELAstic Actuator (ANGELAA) in a leg, with rubber cords as series elastic elements. Hysteresis in the rubber is accounted for, and knee moment is estimated with a mean error of 0.7 Nm. The nonlinear parallel elasticity creates equilibria near 0 $^\circ$ as well as 90 $^\circ$ knee flexion, frequent postures in daily life. Experimental evaluation in a test setup shows force control bandwidth around 5–9 Hz, and a pilot experiment with an amputee subject shows the feasibility of the approach. While weight and power consumption are not optimized in this prototype, the incorporated mechatronic principles may pave the way for cheaper and lighter actuators in artificial legs and in other applications where stiffness requirements depend on kinematic configuration.

Applications of Mechatronics in Seating Furniture

Mechatronics is gradually being used in different fields of the production process and final products. In the field of home seating furniture, it has not been formally declared as such yet. The purpose of further development of seating furniture is to improve its ergonomic parameters, to improve user comfort in controlling and using seating furniture or to provide new additional functions of seating furniture. Application of mechatronic principles can be presumed within the framework of this development. An analysis of the current state of reclining seating furniture, which uses mechanical and electromechanical positioning mechanisms, is conducted in order to formulate possible fields of applying mechatronics. The analysis defines individual ergonomic parameters which are influenced in reclining of seating furniture. This analysis is used as a basis for formulating a hypothesis describing potential development fields of applying mechatronics in home seating furniture.

Reference Model for the Description of Digital Engineering Tools Based on Mechatronic Principles and Concepts

Today’s engineering demands the collaboration of various specialists in order to provide quality excellence and meet time constraints within engineering projects. Even though mechatronic engineering methodologies display handy instruments (e. g. VDI 2206), they are not sufficiently supported by digital engineering tools. Digital engineering tools are rather characterized based on its discipline-specific functions and omit a holistic mechatronic thinking. On this account, the paper introduces a reference model for mechatronic engineering tools. Thereby, the model boundary bases on mechatronic principles and concepts (e. g. the mechatronic principle of interdisciplinary collaboration and the concept of interdisciplinary knowledge provision). The model is structured into three reference perspectives: Process, application and artifact. While the reference perspective process claims the requirements of mechatronic engineering processes, the reference perspective application represents the interaction with mechatronic developers and the reference perspective artifact forms the digital representation of mechatronic production systems. Being designed deductively, industry-based expert interviews and workshops ensure feasibility of the paper’s approach. Finally, the potential for integration in current software maturity models and the company-specific scaling of engineering tools is mentioned as part of the application’s scope.

Dynamic model of a doubly coupled mechatronic system with elasticity and free play

Executive modules in engineering systems may be based on mechatronic principles. A mechatronic module is a functionally and structurally independent component that performs specified motion with the required quality. As applications become more com� plex, interest rises in multiply coupled mechatronic systems. In the present work, we consider a dynamic model of a doubly coupled mechatronic system with elastic� ity and free play in the mechanical transmission, with a view to developing a tool for investigating the pro� cesses in multiply coupled systems. For example, self� oscillation due to the linearity in executive drives has not been sufficiently investigated for systems with mutual influence of the coordinates.

CURRENT DEVELOPMENTS OF HIGH-TECH ROBOTIC AND MECHATRONIC SYSTEMS IN HORTICULTURE AND CHALLENGES FOR THE FUTURE

This paper reviews the current developments of high-tech robotic and mechatronic systems in horticulture and future perspectives. Driving forces for mechanization are identified. Dutch greenhouse crop production is used as an example. In greenhouse horticulture the production steps and control that needs to be done in the growing area of high value crops and flowers are still often done manually. Growers are investing a lot of labour in processes like crop sensing, crop maintenance and harvesting the products. To harvest these high value products, a lot of human intelligence is required, such as precise, effective and efficient eye-hand coordination in a complex environment, decisions concerning quality and ripeness and careful handling and buffering of variably shaped vulnerable products. Within the next years the first generation of machines will be introduced in greenhouse horticulture using principles of mechatronics and robotics, combining smart mechanical design with sensors and ‘artificial intelligence’ needed for these difficult tasks. Examples are the current commercial robot developments for cutting roses, harvesting strawberries and cucumber. But jumping from fully manual production to fully robotised production is a complex challenge and probably not always and not yet the way to go. As an intermediate step, also technology is needed to support current human labour for instance to harvest more precise, targeting on specific quality as a post-harvest feedback and to buffer the high value products carefully and automatically and it is even possible to support human labour by pointing out the ripe products that need to be harvested. Ambient intelligence is more and more becoming a part of the working environment. Here the idea is presented that new ICT developments in gaming can stimulate labour in greenhouse horticulture to do the work better and faster with a lot more fun when there is the challenge to reach new skills, features and levels supported in a gaming environment. Finally, progress in the field of greenhouse robotic and mechatronic systems does not only rely on innovations in the field of robot and mechatronic systems but also on necessary innovations in the field of growing systems and plant breeding to reduce variability and thus to simplify the task for men and machinery.

GREENHOUSE MECHANIZATION: STATE OF THE ART AND FUTURE PERSPECTIVE

This paper reviews the state of the art and future perspective of greenhouse mechanization. Driving forces for mechanization are identified. Dutch greenhouse crop production is used as an example. Analysis of a generic crop production process combined with a review of the state of the art in greenhouse mechanization revealed that the first phases of plant production such as seeding, cutting, grafting and transplanting as well as the final phase of crop production including sorting and packing the harvested produce are mechanised. Those tasks do not require much human intelligence and/or fast and accurate eye-hand coordination. The available machines are largely based on principles of industrial automation consisting of mechanical solutions with only a limited amount of sensors and `intelligence? used. The next ten years, the available line of machines will be redesigned, extended and optimised. The middle phase of crop production including crop maintenance and harvest does not show much automation yet. Maintaining the crop and harvesting do rely on human intelligence and ability and are much more difficult to automate. The next ten years will show the advent of the next generation machines that will be based on the principles of mechatronics and robotics, combining smart mechanical design with sensors and `artificial intelligence? to achieve the fast and accurate eye-hand coordination needed for these difficult tasks. This trend is supported by the commercial development of a strawberry harvester in Japan and a rose harvesting robot and tomato de-leafing robot in the Netherlands. It is concluded that the slow progress in the field of robotic harvesting is to a large extent due to uncertainty in the working environment of the robot as a result of biological variability and the typical structure of the growing systems used. Progress in the field of greenhouse robotics therefore will not only rely on innovations in the field of robot technology but also on necessary innovations in the field of growing systems and plant breeding to reduce variability and thus to simplify the task

Mechatronics in Motion – Some Railway Applications

The paper presents a progression of railway-related projects undertaken by the author and co-workers over the last three decades. The objectives are twofold: firstly to illustrate the increasing technological ambitions with respect to applying mechatronic ideas to the suspension systems of railway vehicles and secondly to propose a categorisation of the different concepts in terms of their compliance with the principles of mechatronics.

The mechatronics workbench

Describes a TCS Programme between the Mechatronics Research Centre at Loughborough University and Feedback Instruments Ltd. The objective of the work was the mechatronics workbench, a concept for a range of didactic equipment facilitating the teaching and training of mechatronics principles in industry and in further and higher education institutions on a global scale.

The mechatronics workbench

TCS is a UK Government scheme in which 2-year innovation projects are implemented by teams comprising senior staff from a company and from a higher education institution or research organisation, as well as graduates (TCS Associates).This article describes a TCS Programme between the Mechatronics Research Centre at Loughborough University and Feedback Instruments Ltd. The objective of the work was the mechatronics workbench, a concept for a range of didactic equipment facilitating the teaching and training of mechatronics principles in industry and in further and higher education institutions on a global scale.

Using mechatronics technology to assess pressure filtration

This paper describes some recent (initial) developments in laboratory scale cake filtration technology which may ultimately lead to the production of standard equipment for assessing filtration performance. The principles of mechatronics, which integrates electronics, computers, process control and mechanical systems, have been used to provide a state-of-the-art pressure filtration apparatus capable of performing repeatable experiments over a range of pressure/flow regimes commonly encountered in industrial filtrations. Data obtained at constant pressure and proportionally controlled variable pressure are presented to illustrate the scope of the apparatus and the benefits of removing operator interference and damaging pumping operations from filtration experiments. It is shown how scale-up parameters (obtained for aqueous mineral suspensions) can be used to successfully predict constant pressure filtration performance and the problems which can arise when predictions of more compressible variable pressure filtrations are made using data obtained at constant pressure.

Predicting the performance of pressure filters

As a step towards removing heuristics from the design and specification of filters, it is shown how accurate experimentation and modelling can be utilised to predict the performance of a pressure leaf filter over a range of experimental conditions. An experimental apparatus combining the principles of mechatronics with a dead-end pressure leaf filter is outlined, along with sample data which outline its versatility. Experimental data obtained from the apparatus are compared with predictions given by classical filtration theories incorporated within flexible computer simulations. Batch experimental results obtained at constant pressure with aqueous suspensions of calcite, talc and zinc sulphide are shown to match well with theoretical predictions of the important design parameters cake height and cumulative volume of filtrate, particularly when cake compressibility is lower. Constant pressure data are further used to predict constant flow filtrations where the applied pressure is manipulated via computer software.

Automated pipe inspection robot

Automated inspection of the inner surface of a pipe can be achieved by a mobile robot. Pipe inspection is necessary to locate defects due to corrosion and wear while the pipe is transporting fluids. Pipe inspection devices are available for these tasks; they commonly use ultrasonic or magnetic flux variation to detect defects. Says that the magnitude of the costs involved in the development and implementation of these inspection techniques is such that it inhibits their more frequent and widespread use. Posits that the automated pipe inspection robot presented is a proposed cost‐effective alternative solution. The inspection device is a PC‐based design that uses mechatronic principles to ensure a purposeful interaction between the robot and its environment.

Using Mechatronics for the Interpretation and Modelling of the Pressure Filter Cycle

An experimental apparatus combining the principles of mechatronics with a dead-end pressure leaf filter is described. The computer controlled and sequenced apparatus was used to monitor performance during the cake formation, gas dewatering and displacement washing phases of filter cycles. Data relating to cake properties and liquor transport rates were acquired through electrical resistance measurements and suitable transducers. The data illustrate the versatility and accuracy of the apparatus and they are used to compare with predictions given by existing theories, particularly for cake formation. Batch experimental results obtained with aqueous suspensions of calcite are shown to compare favourably with theoretical predictions for important design parameters such as cake height and cumulative volume of filtrate whereas data for more compressible talc systems tended to show more deviation. The work presented highlights the benefit of a mechatronics approach to experimentation and emphasizes the importance of data acquisition and system control to future developments in filter design.