Design Of Mechatronic Systems Research Articles

Using design languages in model-based mechatronic system design processes

Using design languages in model-based mechatronic system design processes

Using design languages in model-based mechatronic system design processes

Since modern production processes are multi-disciplinary, all relevant disciplines must be involved in product development in order to achieve good results. While established programs for design and simulation are successfully applied in preliminary and detail design, software support in the earlier design phases is poor. We summarise a variety of modelling approaches and analyse the application of general purpose modelling and model-based description languages within a step-wise iterative process model based on VDI-Guideline 2221 in the individual design phases. Our analysis is supported by an example application to the design of a bottling plant. We conclude that General Purpose Modelling and Model-Based Design Languages are useful methods for early product design and could facilitate multi-disciplinary modelling and simulation in a future product development process by thorough integration of different model views in a system model.

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.

Selection of active elements in system reduction of vibration

This work presents non-classical method of design of mechatronic systems. The purpose of this paper is also introduces synthesis of mechatronic system understand as design of mechatronic systems. The synthesis may be applied to modify the already existing systems in order to achieve a desired result. The system was consisted from mechanical and electrical elements. Electrical elements were used as subsystem reducing unwanted vibration of mechanical system. Electrical elements can be realized in the form of coils with movable core. The system was modelled in Matlab Simulink.

Mechatronic design and development of a non-holonomic omnidirectional mobile robot for automation of primary production

AbstractThis paper presents the mechatronic system design and development of a four-wheel drive/steer (4WD4S) mobile robot as a non-holonomic omnidirectional robot, MARIO—Mobile Autonomous Robot for Intelligent Operations. An innovative integrated application of CAD/CAM/CAE and RP has been employed for rapid development of the robot chassis and other mechanical parts by using different software tools. Most of the parts were designed by 3D CAD software which allows further CAE analysis including structural and motion analysis. To reduce the manufacturing time and cost, CAM and RP have been used to manufacture the main parts. These master parts are manufactured by workshop machining and 3D printing. Robot Operating System (ROS) alongside Gazebo simulator have been utilized for modelling, simulation, software development and visualization which enabled to develop the optimum embedded system to control the robot. With this integrated approach, a prototype of MARIO has been developed with a reasonably low manu...

A Quantitative System for Technical Assessment and Training of Skills (STATS) for Surgical Performance

Venkat N. Krovi is an associate professor in the Mechanical and Aerospace Engineering Department at the State University of New York (SUNY) at Buffalo, with adjunct appointments in Electrical Engineering, Pathology and Anatomical Sciences, and Gynecology-Obstetrics. In September 2001, Krovi joined the Mechanical and Aerospace Engineering Department at the State University of New York at Buffalo as a tenure-track assistant professor and received tenure in June 2007. At Buffalo, Krovi directs the Automation, Robotics and Mechatronics (ARM) Lab and the Computer Integrated Surgery (CIS) Lab. His research program focuses on lifecycle treatment (design, modeling, analysis, control, implementation, and verification) of novel mechanical and mechatronic systems with emphasis on both the theoretical formulation and experimental validation. The rich theory of kinematics, dynamics, and control of constrained articulated mechanical systems forms the intellectual basis of his research.

Design and implementation of electric drives and control systems for mining excavators

Results of the design and application of new mechatronic systems with dc motors and transistor power transducers for mining excavators are considered. Intelligent motion control provides a high dynamic performance and individual adjustment of drives, eliminating impacts and passing into critical zones. The application of modern dc motor transistor transducers makes it possible to reduce power consumption by 20–30% compared to conventional excavators with Ward–Leonard drives and to reduce the specific power intensity of excavation. The power factor of the excavator is maintained constant and equal to a specified value in all operating modes, which ensures optimum electromagnetic compatibility of the excavator and a feeder line. New intelligent systems provide full control of all the main operating parameters of the excavator, loads on the working bodies, and the condition of all equipment components, as well as analysis and presentation in tabular and graphical form of the basic technological parameters of excavator performance (a volume of loaded mined rock, productive time, energy consumption, etc.). Intelligent systems contain a remote monitoring module. Results of the design and experience in commercial production and operation of mechatronic systems for single-bucket mining excavators with transistor power transducers as a part of main motion electric drives are given.

Non-classical method of modelling of vibrating mechatronic systems

This work presents non-classical method of modelling of mechatronic systems by using polar graphs. The use of such a method enables the analysis and synthesis of mechatronic systems irrespective of the type and number of the elements of such a system. The method id connected with algebra of structural numbers. The purpose of this paper is also introduces synthesis of mechatronic system which is the reverse task of dynamics. The result of synthesis is obtaining system meeting the defined requirements. This approach is understood as design of mechatronic systems. The synthesis may also be applied to modify the already existing systems in order to achieve a desired result. The system was consisted from mechanical and electrical elements. Electrical elements were used as subsystem reducing unwanted vibration of mechanical system. The majority of vibration occurring in devices and machines is harmful and has a disadvantageous effect on their condition. Harmful impact of vibration is caused by the occurrence of increased stresses and the loss of energy, which results in faster wear machinery. Vibration, particularly low-frequency vibration, also has a negative influence on the human organism. For this reason many scientists in various research centres conduct research aimed at the reduction or total elimination of vibration.

An overall methodology for reliability prediction of mechatronic systems design with industrial application

We propose in this paper an overall ten-step methodology dedicated to the analysis and quantification of reliability during the design phase of a mechatronic system, considered as a complex system. The ten steps of the methodology are detailed according to the downward side of the V-development cycle usually used for the design of complex systems. Two main phases of analysis are complementary and cover the ten steps, qualitative analysis and quantitative analysis. The qualitative phase proposes to analyze the functional and dysfunctional behavior of the system and then determine its different failure modes and degradation states, based on external and internal functional analysis, organic and physical implementation, and dependencies between components, with consideration of customer specifications and mission profile. The quantitative phase is used to calculate the reliability of the system and its components, based on the qualitative behavior patterns, and considering data gathering and processing and reliability targets. Systemic approach is used to calculate the reliability of the system taking into account: the different technologies of a mechatronic system (mechanics, electronics, electrical .), dependencies and interactions between components and external influencing factors. To validate the methodology, the ten steps are applied to an industrial system, the smart actuator of Pack'Aero Company.

Pattern-based integration of system optimization in mechatronic system design

Model-Based Systems Engineering (MBSE) is a promising methodology for the design of complex mechatronic systems. There are some tools developed to support MBSE in complex system design and modeling. However, none of them has got the functionality of supporting system optimization. This work is precisely motivated by this gap and aims to develop effective methods to support automatic system optimization for MBSE. Specifically, a pattern-based method is proposed to support the integration of system optimization into mechatronic system design. In such a method, optimization problems, their solving methods and computation results are formally defined in each pattern based on the System Modeling Language (SysML). In addition, a model description scheme termed an optimization profile is proposed based on SysML to include the components for formalizing different kinds of optimization problems and optimization methods. After an optimization profile is created for an optimization problem, system optimization methods can be chosen automatically from the pattern library based on a semantic similarity evaluation. Then, optimization results are provided to users to support decision-making and the pattern library is updated using the relevant information obtained in this process. A system design example is used to demonstrate the feasibility and effectiveness of proposed methods.

Multidomain Model Integration for Online Collaborative System Design and Detailed Design of Complex Mechatronic Systems

Model integration enables the automated data flow of design changes between multidisciplinary models and improves the efficiency of collaborative multidisciplinary design. In this study, a geometry-related profile of SysML is first proposed to specify the geometric information of mechanical structure to support the generation of initial CAD models from SysML models. Second, a model comparison-based method is introduced to obtain the model changes to facilitate the incremental update between distributed heterogeneous models. Third, a multidisciplinary design optimization based method is introduced to deal with the design conflicts that hinder model integration during multidisciplinary design. Finally, a five-bar robot is used as a case study to demonstrate the whole proposed method.

Design of mechatronic systems through aspect and object-oriented modeling

Abstract Design of mechatronic systems involves the use of multiple disciplines, from mechanics to electronics and computer science. Different granularities of hybrid co-simulations with increasing details can be used during the design process. However, there is the need of modeling tools for effectively managing the necessary abstraction layers. This work proposes a combination of Aspect-Oriented and Object-Oriented modeling for reaching the goal. Moreover, it shows how the utilization of these tools can facilitate design-space exploration, segregation of domains of expertise and enhances co-design.

On Using Nyquist Plots for Relaxing Convex Conservative Approximations in Design of Robust Mechatronic Systems

Abstract: In this paper, a Nyquist plot-based method which reduces the conservatism associated with Linear Matrix Inequality (LMI) approximation of ambiguous chance constraints is proposed for the design of robust mechatronic systems. The mechanical plant and controller are redesigned over finite frequencies by shaping the open loop Nyquist plot to avoid an ambiguous chance-constrained robust stability disc. Commonly used graphical constraints such as the sensitivity disc are also included in order to satisfy the performance specifications. Our simulation results using the proposed graphical method achieves a robust stability of 91.8% based on a desired probability tolerance for closed-loop stability of (1 — e) = 0.70 as compared with LMI approximation, which requires the standard deviation of the parametric uncertainties to be reduced by four times in order to satisfy an identical (1 — e), and achieves a robust stability of 100%.

Topology-based Safety Analysis for Safety Critical CPS

Since Cyber-Physical Systems (CPS) may exhibit different structures and emergent behaviours during different operational phases, while also being safety critical, it is useful to perform systematic safety analyses tightly relying on the functional and components topologies of such systems. Our proposal is to perform FMEA and FTA analyses as soon as possible in the CPS design process in order to identify and mitigate the risks related to some safety critical structures and behaviours. Thus, these preliminary analyses enable to propose relevant design modifications and improvements such as optional or additional redundancies, components repairability capabilities or relevant control strategies, taking into account the complexity and the potential variability of the structure and the behaviour of the systems. This work derives from previous MBSE (Model-Based System Engineering) and MBSA (Model Based Safety Analysis) integration studies, performed during the early phases of the design of safety critical mechatronic systems, including interconnection components and multi-physical interactions. It relies mainly on M2M (Model to Model) and M2T (Model to Text) transformations and appropriate SysML metamodeling. The proposed CPS safety analysis methodology is illustrated using an aeronautic industrial case study.

Analysis and system optimization of a very low frequency high-voltage test system

Abstract: This paper presents a detailed analysis and the optimization of a very low frequency high-voltage test system for cable tests with test voltages up to 200 kVrms. In the analysis, the limitations of the test system due to the initial hardware setup are discussed. An advanced design is proposed based on a parameter optimization, which enlarges the possible operating range and improves the quality of the test voltage. To further increase the operating range, a new setup of the high-voltage test system is proposed following the ideas of a mechatronic system design.

The Impact on Organizational Structures of Model-based Mechatronic System Design

For an effective model-based mechatronic system engineering software tools are necessary which support collaboration between the involved disciplines, a single source of information and – among other things – enables integrated workflows. But it is not enough just to rollout a new software tool in the company, in order to use all advantages, also the organizational structure has to be adjusted. This contribution discusses these influences on organizational structures and illustrates an analyzing methodology which can be performed before a rollout in order to give recommendations and hints for necessary changes. The methodology is shown on the industrial example of the rollout of the tool COMOS which is used for the design of sinter plants.

Multidisciplinary interface model for design of mechatronic systems

The design of mechatronic systems is based on the integration of several disciplines, such as mechanical, electrical and software engineering. How to achieve an integrated multidisciplinary design during the development process of mechatronic systems has attracted the attention of both academia and industry. However, solutions which can fully solve this problem have not been proposed by now. The concept of multidisciplinary interface represents the logical or physical relationship integrating the components of the mechatronic system or the components with their environment. As the design of mechatronic systems is a multidisciplinary work, the multidisciplinary interface model can be considered as one of the most effective supports to aid designers for achieving the integrated multidisciplinary design during the development process. The paper presents a multidisciplinary interface model for design of mechatronic systems in order to enable the multidisciplinary integration among design team members from different disciplines. On the one hand, the proposed model ensures the consistency of interface defined by the designers. On the other hand, it helps the designers to guarantee the different components integrate correctly. The interface model including three concepts: classification, data model and compatibility rules. The multidisciplinary interface model is implemented by a case study based on a 3D measurement system.

Self-adjusting multidisciplinary design of hydraulic engine mount using bond graphs and inductive genetic programming

This paper presents a novel approach in multidisciplinary design of mechatronic systems, using an inductive genetic programming (IGP) along with a bond graph modeling tool (BG). The proposed design algorithm dynamically explores the space of finding optimal design solutions through utilizing two navigated steps for simultaneous optimization of both topology and parameters. In the first step, an IGP tool is applied on the bond graph embryo model of the system for topology synthesis. In the second step, an optimization tool that incorporates an artificial immune system (AIS) is implemented for optimization of the parameter values. A supervisory loop statistically analyzes the efficiency of the different mechatronic elements in improving the system׳s performance. By acquiring knowledge and learning from prior trials, the evolution parameters are automatically and dynamically adjusted, with the aim to achieve more efficient evolution progress. The developed method is practically compared with an available bond graph-genetic programming (BGGP) method via designing an aerospace engine mount system. Results show that more navigated and accurate design results are acquired from the proposed method.

Improvement of part straightness accuracy in rough cutting of wire EDM through a mechatronic system design

This paper presents a mechatronic system approach to the improvement of part straightness accuracy in rough cutting of wire electrical discharge machining (wire EDM). The mechatronic system design integrated an active wire feed apparatus and a microcontroller-based wire tension control system into a novel wire transport system for providing a smooth wire transport and a constant wire tension value. The active wire feed apparatus was first devised to reduce the inertial effect of the wire spool on the wire transport system. Then, a proportional-integral-derivative (PID) controller was used to implement real-time wire tension control of the wire transport system. Compared to a typical wire transport system, steady-state error of wire tension control can be reduced by half using the newly developed system. Through pulse train analysis, the proportion of normal sparks to total sparks defined as normal spark ratio can be used to monitor spark gap condition as well as to be an indication of evaluating machining speed and part straightness accuracy. Experimental results show that part straightness accuracy can be significantly improved from 13 to 4 μm by the newly developed wire transport system along with optimum machining settings.

Hybrid Analytical Analysis in the Design of Mechatronic Systems

Coupling the structural analysis with the motion analysis in one simulation (hybrid analysis) provides an important mechanism which allows an integrated and optimal approach in the design of mechatronic systems. Such a procedure which includes Matlab/Simulink calculus and visualization of main efforts variation in each structural element of a robot during an entire operational task, allowing coupling structural analysis with motion analysis and testing the virtual prototype on multiple task scenarios is detailed in this paper. Also, the utility of this analysis (information) and ways to improving the control strategy for resources management of an intelligent mechatronic system are emphasized.