MFE 3102

Design of Mechatronic Systems

Tutorial Sheet
Part 1 What is Mechatronics? 1. Give a brief outline of the result of the evolution from purely mechanical/ electromechanical systems to integrated systems exhibiting a substantial amount of electronics and computer systems in their control and management? 2. Give an example of a typical mechatronic system, highlighting the primary technologies within such systems. 3. A Mechatronic system can generally be divided into two domains that describe the two primary operational elements of the system. Give an outline of these domains and describe how such domains interface with each other. 4. Suppose we are designing a new product consisting of a boats rudder. However we would like to include a system whereby the rudder offers auto-pilot operations (i.e. the direction of the boat is set and it is a control system which ensures that the boats direction is maintained). In developing such a product, various key elements would have to be taken into consideration. Describe in brief the key elements that you would need to consider in the development of such a product. 5. Give a brief outline of how information flows through a Mechatronic System. 6. Mechatronic systems, through the integration of the various technologies, generally give rise to relatively unique system characteristics when compared to more conventional mechanical and electro-mechanical designs. Outline these characteristics, providing a brief description of how they tend to arise. 7. Mechatronic Systems integration can occur at various levels and to various scales. For example one can talk about integration within system components as well as integration within the information processing. Elaborate further.

MFE 3102

Design of Mechatronic Systems

Tutorial Sheet
Part 2 Designing Mechatronic Systems

1. Give a brief outline of the meaning of a system from a Mechatronic perspective 2. Briefly outline what characteristics would be expected from a design model for a mechatronic system. 3. Give a brief description of two system representation models that avoid explicit representation of a technology and are therefore not domain specific. 4. Mechatronic System requirements can generally be defined at a system level in terms of; a. operational requirements b. functional requirements c. non-functional requirements What does a requirement classification represent. 5. Draw a Context and level 0 dataflow diagrams for the following problem, clearly identifying the operational requirement of the product as well as its main functions. An automatic vacuum cleaner is to be designed which should be able to run around on the carpet and vacuum the carpet without any human assistance. All the human operator will have to do will be to place the cleaner somewhere on the carpet, select appropriate commands (such as simple cleaning or washing) and then the cleaner will automatically find the edges of the carpet, and follow an appropriate cleaning pattern. It should also be able to avoid obstacles (ex. furniture or humans running around on the carpet). Once the operation has ended the cleaner should provide an appropriate signal to the user, including information on the cleaning process as well as the status of the cleaner. Normal power supply and carpet conditions are assumed. Keep the diagrams relatively simple without unnecessary details and dataflows. 6. For example 5 above, include one entry into the Data Dictionary and one entry in the Process Specification for a dataflow and process respectively in the level 0 diagram. 7. What advantageous characteristics are expected from the use of a structured analysis approach to the requirements definition of a mechatronic system? Mention two limitations that you can identify when using such an approach.

8. Control Software development in a mechatronic system can generally be divided into the following main phases; a. Requirements Analysis b. Design c. Implementation d. Testing Give a brief description of each of these phases. 9. Where can the following simulation models be used during the development and evaluation of mechatronic systems? a. Physical Models b. Mathematical Models c. Computer Graphics Models

MFE 3102

Design of Mechatronic Systems

Tutorial Sheet
Part 3 Measurement Systems and Information Input in Mechatronic Systems

1. Distinguish between a measurement system and a sensor/transducer. What is the role of the measurement system within a Mechatronic system context? 2. Sensors are generally classified in two principle modes. What are these modes? Give some examples for both classification modes? 3. Suppose we need to measure the liquid level in a tank. Briefly outline three possible ways by which the liquid level can be measured. Remember that a measurand can either be measured directly or alternatively can be measured indirectly through the measurement of an alternative and possibly easier measurement which is related in some mathematical manner to the measurand. 4. Outline the components of a basic measurement system, describing the role of each of these components in terms of the information flow and management within the measurement system. Give an example of such a practical measurement system outlining these components. 5. Suppose that we are designing production equipment dealing with the positioning of some component attached to a table, along the X and Y axes. A system which needs to control such a position is thus needed. Outline in brief a number of measurement characteristics that you would consider to be critical in selecting and developing the right measurement system for your position control. 6. Dynamic performance of the measurement system can in a number of cases be important to the general performance of the system. Briefly outline how dynamic sensor performance can become critical by using as an example a mobile robots navigation, the direction of which is monitored by a compass, which though, exhibits high damping. 7. When coming to select a measurement system, the system designer generally considers both electrical and mechanical characteristics of the measurement system and in particular of the sensor. Briefly outline typical examples of both electrical and mechanical characteristics that can be of interest.

8. A strain gauge type of pressure sensor has the following specifications: i. Range 70kPa to 1 MPa (at ambient temp. of 20C). ii. Full Scale Output (FSO) 40mV iii. Non-Linearity Error 0.5% of FSO (Terminal). iv. Thermal Offset Error 0.03% of FSO per C v. Thermal Gain or Sensitivity Error 0.03% of FSO per C Give a description of the significance of the above specifications 9. In the design of measurement systems, it is necessary to clearly identify the information requirements for which the measurement system is to be applied. Outline the typical aspects of concern from an operational perspective when defining such requirements. Give examples of how these requirements would be defined within a position measurement system context. 10. Give a description, with examples wherever possible of the following sensor characteristics, used in selecting the appropriate measurement system in mechatronic applications: i. Range and Span ii. Error or Uncertainty iii. Sensitivity iv. Output Impedance 11. Suppose two sensory types are used for measuring air pressure. Sensor type A has a frequency response given by the frequency range from 0 to 50Hz whereas sensor type B has a frequency response range from 20Hz to 1kHz. Describe what is meant by frequency response. Which sensor would be ideally used for measuring static pressure measurements and which sensor would be ideally used for measuring sound waves (dynamic pressure waves) and why? 12. What is a sensors resolution? Sensor resolution is generally limited due to a number of factors. Outline such factors in the case of an analogue sensor and a digital sensor, and how they limit the sensors resolution.

MFE 3102

Design of Mechatronic Systems

Tutorial Sheet
Part 4 Actuation in Mechatronic Systems

1. Describe the role and significance of the power amplification and modulation component within an actuation system. 2. Draw a diagram to illustrate the operation of an actuation system with the controller signal as its input and the appropriate actuation activity as its output. 3. Briefly describe how actuator speed can be controlled for the following actuators; i. DC electrical motors ii. AC electrical motors iii. Stepper electrical motors iv. Fluid Power motors 4. What operational characteristics would be expected from a pneumatic actuator, particularly in terms of; i. operational velocity ii. actuation force iii. resolution iv. compliance v. actuator responsiveness 5. What differences in fluid power actuator performance would you generally expect when switching from a gas to a liquid as the operating fluid? 6. A gantry type robotic manipulator with two axes (X and Y) is to be designed for picking objects from a position and placing them in another position. What performance characteristics would you expect to be considered when coming to design and develop the actuation system for such a robot? 7. Draw a simple schematic diagram to illustrate how position control for a hydraulic cylinder can be obtained. Give a brief description of the role of each element within the diagram. 8. Briefly outline the operating ranges of electrical, hydraulic and pneumatic rotary drives or motors, in terms of operating torques and speeds. 9. Describe what is meant by the responsiveness of an actuator, and how is it generally measured?

10. Actuators are said to suffer from non-linear behaviour. What is meant by the term non-linearity? Give a brief description using diagrams where possible to illustrate how the following actuator characteristics can result in non-linear behaviour; i. Static and Coulomb Friction ii. Eccentricity iii. Backlash iv. Saturation v. Deadband 11. Actuation systems, being part of a mechatronic system, need to be integrated with all other elements that constitute the system. Mention briefly what actuation system specifications would you consider critical in terms of the integration of the actuation system with the rest of the mechatronic system. 12. Suppose we have to design a robotic gripper which has to be designed to cope with the handling of various objects and shapes but where the gripping force must remain constant. What characteristics would you look for in such an actuation system? What actuation system power type (ex. electrical, pneumatic, hydraulic) would you tend to use give the characteristics that you consider important, and why?