WELCOME TO THE PRESENTATION --------------------------------------------------------- Development of the Mechatronics Design course Dr. A. Mazid Monash University E-mail: Abdul.Mazid@eng.monash.edu.au
Presentation plan: Part - A Mechatronics and intelligent machines Proposed Mechatronics Design subject layout Developing intelligence of machines Part B Examples of course materials Part C Related students projects in mechatronics
Part A Mechatronics Design
What is Mechatronics??? In popular sense Mechatronics is an integrated technology linking Mechanical Engineering, Electronics and Computer Control in the design and production phases of products.
How do we understand Mechatronics??? Mechatronics is a science dealing with high level hierarchical intelligent machines. Intelligence -??? Combined people intelligence higher level hierarchy of intelligence
How do we understand intelligent machines / systems??? Sensors Brain Programmable Controllers Sensors Essential elements: Controllers Sensors Actuators Actuator + Actuator + Fig. 1.2. Concept of a mechatronic machine
Intelligent machines are capable to: Receive, collate, store, and process data Take decisions Activate Follow up consequences of its activation Amend the actions if necessary
PROPOSED COURSE LAYOUT at Monash: GSE2803 / TRC2000: Mechatronics Design Major contents: I. Introduction to Intelligent Machines II. Machine systems design III. Development of intelligence for machines IV. Sensibility of machines V. Case studies
I. Introduction to Intelligent Machines Introduction and definitions Evolution of mechatronic machines Mechatronics systems Intelligent machine structure: Programmable controllers, Sensors, Actuators Sensibility of intelligent machines Sensors, and sensory fusion
II. Machine systems design Primary needs Systematic methods of design problem solution for intelligent machines Systematic design techniques Selection of the best optimised design Design life cycle Invention, lateral thinking Secondary needs: Reliability, Ergonomics, Aesthetics, Safety, etc.
III. Development of intelligence for machines Control systems design for intelligent machines: Programmable controllers, Microcontrollers, Nanomechanisms, MEMS What is intelligence in mechatronics sense? Growing intelligence of mechatronic systems FLCs based on NN, GA Models / prototypes development
IV. Sensibility of machines Intelligent grasping and sensing Sensors and sensory fusion, data processing Tactile sensing Double-octagon octagon tactile sensing Scattered energy method for sensing Artificial intelligence, expert systems for mechatronic products
V. Case studies Cruise control systems CNC machine tools Intelligent grasping examples others
Ways of achieving expected intelligence of mechatronics machines FLCs based on NN, or GA Microcontrollers / electronic controllers Micro-machines / micro-electromechanical systems (MEMS) PLCs interfaced with Pneumatics
1. Concept of Fuzzy Logic Control Crisp (output) Defuzzified Fuzzified data Crisp (input) Fig 1.3. Fuzzy process
2. Concept of Neural Network (NN) Output layer Action elements layer Fuzzy rule layer Condition element layer Input layer Fig 1.4. FuNN architecture
3. Concept of Genetic Algorithm (GA) in mechatronic machine control Initialising of individual Evaluation Selection of parents Crossover Mutation NOTE: Weaker individuals die, as a result a highly fit or super-fit offspring is produced. Fig 1.5. GA process
Part B EXAMPLES OF COURSE MATERIALS
EXAMPLES ON SYSTEMATIC DESIGN TECHNIQUE
Some typical models of systematic design technique: Model by Hawkes & Abinett
1. Analysis: Analysis is the resolution of anything complex into its elements and the study of these elements and of their interrelationships. Analysis calls for identification, definition, structuring, and arrangement.
Analysis (contd.) Steps of Analysis: Method of operation Production procedures Method of power flow Method of control & others
Analysis (contd.) Analysis requires the application of both practical & theoretical knowledge: Consideration of manfg tolerances Design form (shape of component) Ease of maintenance Ergonomics Aesthetics Strength considerations (stress & load analysis) Size requirements
2. Synthesis Synthesis involves collecting together design information and ideas in engineering or semi-eng eng languages and put them together.
2. Synthesis.(contd.) There may be many features in design synthesis, the followings are common:
An example: Primary need / design problem: A m/c which can operate a mechanism to move a table a certain distance and return in one revolution of the drive motor. The purpose to reject defect bottles (incomplete fill) from a conveyor. or. You start analysing the problem
Design solution 1:
Design solution 2:
Design solution 3:
Design solution 4:
Design feature rating & scoring: How do we select the best design? Design feature rating:
Design feature rating & scoring: How do we select the best design? Rating scores for each design:
In grasping purposes objects are differentiated according to following criteria: State: solid, nonsolid Shape, size, & mass Physical properties: density, hardness, brittleness Dynamics: static, on motion Temperature Chemical properties Magnetism Radioactivity Pliability External & internal phases Colour & odour
Problems related to grasping: Object recognition Shape & size Environmental status of object location Slippage in grasping Determination of required grasping force Determination of handling motions
Slippage detection and grasping problem solving directions using tactiles: Ordinary tactile elements Electro-rheological rheological tactiles Double octagon tactile sensors (DOTs) Stylus method recognising scattered energy of vibration (E sc ) Optical stylus method Method recognising falling motions - accelerometer
Intelligent grasping of unknown object: Problems: 1. Slippage detection during grasping 1. Adequate force determination for grasping
Slippage detection in grasping using scattered energy of vibration Valleys Picks NOTE: All objects in nature has surface textures of different degrees Fig 2.1. Surface texture
Slip detection in grasping using scattered energy of vibration (contd.) Object V r F gr Stylus Grippers Fig 2.2. Object slipping during grasping V F gr = Grasping force V = object falling velocity V r = Reciprocating motion of stylus
Modelling of scattered energy of vibration Fig 2.3. Scattered energy of vibration Total scattered energy, E sc = n. Ftr. v.tan n δ1 i cot s1 i= 1 i ------------------ (2.1) E sc - Total scattered energy of vibration; F tr - Trial-grasping force; n Number of irregularities; v falling velocity of the object δ 1i, s 1i - Geometry of surface irregularities
Zero Trial Grasping Sensing slippage FLC & or NN F ap Fig 2.4 Solution algorithm
Part C Related students projects
A storing & inventory system (UWS) A pet feeder (Monash Uni)
A mini production line (Monash Uni)
Fig. 6. A mini automatic production line (Monash Uni)
Discussion: The proposed subject contents deal with design and development of mechatronic systems / intelligent machines Tutorial and lab-experiment materials can enhance the learning qualities Active cooperation is essential amongst the multidisciplinary academics This subject can be useful for other disciplines: --- The author appreciate criticisms and comments.
Thank you for you attention Your questions, please!