Mechatronics: An Introduction

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ISBN: 9780849363580 | 0849363586
Cover: Hardcover
Copyright: 9/13/2005

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Mechatronics has evolved into a way of life in engineering practice, and it pervades virtually every aspect of the modern world. In chapters drawn from the bestselling and now standard engineering reference, The Mechatronics Handbook, this book introduces the vibrant field of mechatronics and its key elements: physical system modeling; sensors and actuators; signals and systems; computers and logic systems; and software and data acquisition. These chapters, written by leading academics and practitioners, were carefully selected and organized to provide an accessible, general outline of the subject ideal for non-specialists. Clear explanations and nearly 200 illustrations help bring the subject to life.

What is Mechatronics?

(1)

Robert H. Bishop

M. K. Ramasubramanian

Basic Definitions

(1)

Key Elements of Mechatronics

(1)

Historical Perspective

(4)

The Development of the Automobile as a Mechatronic System

(3)

What is Mechatronics? And What's Next?

Mechatronic Design Approach

(1)

Rolf Isermann

Historical Development and Definition of Mechatronic Systems

(2)

Functions of Mechatronic Systems

(2)

Division of Functions between Mechanics and Electronics

Improvement of Operating Properties

Addition of New Functions

Ways of Integration

(1)

Integration of Components (Hardware)

Integration of Information Processing (Software)

Information Processing Systems (Basic Architecture and HW/SW Trade-Offs)

(3)

Multilevel Control Architecture

Special Signal Processing

Model-based and Adaptive Control Systems

Supervision and Fault Detection

Intelligent Systems (Basic Tasks)

Concurrent Design Procedure for Mechatronic Systems

Design Steps

Required CAD/CAE Tools

Modeling Procedure

Real-Time Simulation

Hardware-in-the-Loop Simulation

Control Prototyping

System Interfacing, Instrumentation, and Control Systems

(1)

Rick Homkes

Introduction

(2)

The Mechatronic System

A Home/Office Example

An Automotive Example

Input Signals of a Mechatronic System

(2)

Transducer/Sensor Input

Analog-to-Digital Converters

Output Signals of a Mechatronic System

(1)

Digital-to-Analog Converters

Actuator Outputs

Signal Conditioning

(2)

Sampling Rate

Filtering

Data Acquisition Boards

Microprocessor Control

(1)

PID Control

Programmable Logic Controllers

Microprocessors

Microprocessor Numerical Control

(1)

Fixed-Point Mathematics

Calibrations

Microprocessor Input-Output Control

(2)

Polling and Interrupts

Input and Output Transmission

HC12 Microcontroller Input-Output Subsystems

Microcontroller Network Systems

Software Control

(2)

Systems Engineering

Software Engineering

Software Design

Testing and Instrumentation

(1)

Verification and Validation

Debuggers

Logic Analyzer

Summary

Microprocessor-Based Controllers and Microelectronics

(1)

Ondrej Novak

Ivan Dolezal

Introduction to Microelectronics

(1)

Digital Logic

(1)

Overview of Control Computers

(2)

Microprocessors and Microcontrollers

(1)

Programmable Logic Controllers

(1)

Digital Communications

An Introduction to Micro- and Nanotechnology

(1)

Michael Goldfarb

Alvin Strauss

Eric J. Barth

Introduction

(2)

The Physics of Scaling

General Mechanisms of Electromechanical Transduction

Sensor and Actuator Transduction Characteristics

Microactuators

(3)

Electrostatic Actuation

Electromagnetic Actuation

Microsensors

(3)

Strain

Pressure

Acceleration

Force

Angular Rate Sensing (Gyroscopes)

Nanomachines

Modeling Electromechanical Systems

(1)

Francis C. Moon

Introduction

(1)

Models for Electromechanical Systems

(1)

Rigid Body Models

(2)

Kinematics of Rigid Bodies

Constraints and Generalized Coordinates

Kinematic versus Dynamic Problems

Basic Equations of Dynamics of Rigid Bodies

(2)

Newton-Euler Equation

Multibody Dynamics

Simple Dynamic Models

(2)

Compound Pendulum

Gyroscopic Motions

Elastic System Modeling

(2)

Piezoelastic Beam

Electromagnetic Forces

(4)

Dynamic Principles for Electric and Magnetic Circuits

(4)

Lagrange's Equations of Motion for Electromechanical Systems

Earnshaw's Theorem and Electromechanical Stability

Modeling and Simulation for MEMS

(1)

Carla Purdy

Introduction

(1)

The Digital Circuit Development Process: Modeling and Simulating Systems with Micro- (or Nano-) Scale Feature Sizes

(5)

Analog and Mixed-Signal Circuit Development: Modeling and Simulating Systems with Micro- (or Nano-) Scale Feature Sizes and Mixed Digital (Discrete) and Analog (Continuous) Input, Output, and Signals

(1)

Basic Techniques and Available Tools for MEMS Modeling and Simulation

(5)

Basic Modeling and Simulation Techniques

A Catalog of Resources for MEMS Modeling and Simulation

Modeling and Simulating MEMS, i.e., Systems with Micro- (or Nano- ) Scale Feature Sizes, Mixed Digital (Discrete) and Analog (Continuous) Input, Output, and Signals, Two- and Three-Dimensional Phenomena, and Inclusion and Interaction of Multiple Domains and Technologies

(2)

A ``Recipe'' for Successful MEMS Simulation

(1)

Conclusion: Continuing Progress in MEMS Modeling and Simulation

The Physical Basis of Analogies in Physical System Models

(1)

Neville Hogan

Peter C. Breedveld

Introduction

(1)

History

(1)

The Force-Current Analogy: Across and Through Variables

(2)

Drawbacks of the Across-Through Classification

Measurement as a Basis for Analogies

Beyond One-Dimensional Mechanical Systems

Physical Intuition

Maxwell's Force-Voltage Analogy: Effort and Flow Variables

(1)

Systems of Particles

Physical Intuition

Dependence on Reference Frames

A Thermodynamic Basis for Analogies

(3)

Extensive and Intensive Variables

Equilibrium and Steady State

Analogies, Not Identities

Nodicity

Graphical Representations

(1)

Concluding Remarks

Introduction to Sensors and Actuators

(1)

M. Anjanappa

K. Datta

T. Song

Sensors

(7)

Classification

Principle of Operation

Selection Criteria

Signal Conditioning

Calibration

Actuators

Classification

Principle of Operation

Selection Criteria

Fundamentals of Time and Frequency

(1)

Michael A. Lombardi

Introduction

(1)

Coordinated Universal Time (UTC)

Time and Frequency Measurement

(7)

Accuracy

Stability

Time and Frequency Standards

(4)

Quartz Oscillators

Rubidium Oscillators

Cesium Oscillators

Time and Frequency Transfer

(4)

Fundamentals of Time and Frequency Transfer

Radio Time and Frequency Transfer Signals

Closing

Sensor and Actuator Characteristics

(1)

Joey Parker

Range

(1)

Resolution

(1)

Sensitivity

(1)

Error

(1)

Repeatability

(1)

Linearity and Accuracy

(1)

Impedance

(1)

Nonlinearities

(1)

Static and Coulomb Friction

(1)

Eccentricity

(1)

Backlash

(1)

Saturation

(1)

Deadband

(1)

System Response

(1)

First-Order System Response

(1)

Underdamped Second-Order System Response

(3)

Frequency Response

The Role of Controls in Mechatronics

(1)

Job van Amerongen

Introduction

(2)

Key Elements of Controlled Mechatronic Systems

(1)

Integrated Modeling, Design, and Control Implementation

(9)

Modeling

Control System Design Methodologies

Servo System Design

Design of a Mobile Robot

Modern Examples of Mechatronic Systems in Action

(3)

Rudder Roll Stabilization of Ships

Compensation of Nonlinear Effects in a Linear Motor

Special Requirements of Mechatronics that Differentiate from ``Classic'' Systems and Control Design

The Role of Modeling in Mechatronics Design

(1)

Jeffrey A. Jalkio

Modeling as Part of the Design Process

(5)

Phase 1

Phase 2

Phase 3

Phase 4

The Goals of Modeling

(3)

Documentation and Communication

Hierarchical Framework

Insights

Analogies

Identification of Ignorance

Modeling of Systems and Signals

Analytical vs. Numerical Models

Partial vs. Ordinary Differential Equations

Stochastic vs. Deterministic Models

Linear vs. Nonlinear

Design Optimization of Mechatronic Systems

(1)

Tomas Brezina

Ctirad Kratochvil

Cestmir Ondrusek

Introduction

(1)

Optimization Methods

(5)

Principles of Optimization

Parametric Optimization

General Aspects of the Optimization Process

Types of Optimization Methods

Selection of a Suitable Optimization Method

Optimum Design of Induction Motor (IM)

(3)

IM Design Introduction

Classical IM Design Evaluation

Description of a Solved Problem

Achieved Results

The Use of a Neuron Network for the Identification of the Parameters of a Mechanical Dynamic System

Practical Application

Introduction to Computers and Logic Systems

(1)

Kevin Craig

Fred Stolfi

Introduction: The Mechatronic Use of Computers

(2)

Mechatronics and Computer Modeling and Simulation

(1)

Mechatronics, Computers, and Measurement Systems

(1)

Mechatronics and the Real-Time Use of Computers

(6)

The Synergy of Mechatronics

System Interfaces

(1)

M.J. Tordon

J. Katupitiya

Background

(6)

Terminology and Definitions

Serial vs. Parallel

Bit Rate vs. Baud Rate

Synchronous vs. Asynchronous

Data Flow-Control

Handshaking

Communication Protocol

Error Handling

Simplex, Half-Duplex, Full-Duplex

Unbalanced vs. Balanced Transmission

Point-to-Point vs. Multi-Point

Serial Asynchronous Communications

The Universal Asynchronous Receiver Transmitter (UART)

TIA/EIA Serial Interface Standards

(3)

RS-232 Serial Interface

Functional Description of Selected Interchange Circuits

RS-422 and RS-485 Interfaces

IEEE 488---The General Purpose Interface Bus (GPIB)

Introduction

GPIB Hardware

Controllers, Talkers, and Listeners

Interface Management Lines

Handshake Lines

Data Lines DIO1-DIO8 (8 lines)

Addressing of GPIB Devices

Communications and Computer Networks

(1)

Mohammad Ilyas

A Brief History

(1)

Introduction

(2)

Computer Networks

(7)

Wide Area Computer Networks

Local and Metropolitan Area Networks

Wireless and Mobile Communication Networks

Resource Allocation Techniques

(1)

Challenges and Issues

(1)

Summary and Conclusions

Control with Embedded Computers and Programmable Logic Controllers

(1)

Hugh Jack

Andrew Sterian

Introduction

(1)

Embedded Computers

(5)

Hardware Platforms

Hardware Interfacing

Programming Languages

Programmable Logic Controllers

(6)

Programming Languages

Interfacing

Advanced Capabilities

Conclusion

Introduction to Data Acquisition

(1)

Jace Curtis

Computer-Based Instrumentation Systems

(1)

Kris Fuller

The Power of Software

(1)

Digitizing the Analog World

(1)

A Look Ahead

Software Design and Development

(1)

Margaret H. Hamilton

The Notion of Software

(3)

The Nature of Software Engineering

(4)

Development before the Fact

(5)

Language

Technology

Process

Experience with DBTF

(1)

Conclusion

Index

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Mechatronics: An Introduction

Summary

Table of Contents

Supplemental Materials