Lecture Notes 1 for Mechatronics, Lecture notes of Mechatronics

Download Lecture Notes 1 for Mechatronics and more Lecture notes Mechatronics in PDF only on Docsity!

Mechatronics: An Introduction

Mechatronics:

Modeling, Design, and Control Integration

Sandipan Mishra

Assistant Professor

Rensselaer Polytechnic Institute

S. Mishra

Agenda

• Student Assessment

• Syllabus and Administration

• Background: Sandipan Mishra

• ISAaC Laboratory Activities

• What is Mechatronics?!

• Examples

• Questions?

Mechatronics: An Introduction

Mechatronics

• Original definition of Mechatronics by Yasakawa Electric Co. ( 1970 ’s)

The word, mechatronics, is composed of “ mecha ” from mechanism and the “ tronics ” from electronics. In other words, technologies and developed products will be incorporating electronics more and more into mechanisms, intimately and organically, and making it impossible to tell where one ends and the other begins.

• Formal definition of Mechatronics presented by Harashima, Tomizuka ,

and Fukuda in 1996 [French Std.].

“ the synergistic integration of mechanical engineering, with electronics and intelligent computer control in the design and manufacturing of industrial products and processes ”.

Mechatronics: An Introduction

Bio-mimicry for Sensing

UAV Control

Systems and Control

Synthetic Organ Printing

Additive Manufacturing

Smart Lighting Control

Intelligent Building Systems

SM @ RPI: Research Projects & ISAaC Lab

Micro/Nanoscale Manufacturing: Sensing and Control of E-Jet Printing

Using Image Sensors in High-Speed Applications: High-speed Adaptive Optics using Slow Image Sensors (NSF)

3D Manufacturing for Synthetic Tissue: Synthetic Heterogeneous Anatomical Printer (Army SBIR)

Learning Control Design: Layer-by-layer Manufacturing (NSF CAREER)

Advanced Manufacturing Research

High-speed Imaging

Instrumentation Mechatronics

System Design, Instrumentation, and Integration

1

4

5

6

7 8

3

Layer-to-layer modeling^2 Learning Control

Humidity and Indoor Environment Control: Control of Humidity/Lighting/AQ/Temperature (NSF)

Identification and Modeling of Buildings: Commercial Building Modeling & Control (Hewlett Packard Labs)

Self-Commissioning Smart Lighting Systems: Automated “Plug and Play” – System ID & Control design (NSF)

Learning and Forecasting in Intelligent Buildings: Passivity-based Learning and User-feedback in Control (NSF)

Intelligent Building Systems Research

F K G

ydes y

Inner loop

Outer Learning loop uˆ

w

1

2

3

4

5 User-feedback in Building systems control

Are YOU a good fit for ISAaC?

• Do you like using math to

solve engineering problems?

• Do you produce your best

working in a team?

• Are you driven? Can you

make research your life &

enjoy it?

5/5/

Some Mechatronics Research Projects

Mechatronics: An Introduction 13

Measurement SystemFiber Cutting System

How did we make a single composite layer?

Printing Path Inkjet Printing System

Inkjet Nozzle

UV Curing & Heating System

UV Curing Heating

Collect Fibers (^) Fiber Stamping System

3D Solid Model Desired Profile Achieved?

Video Links Fiber Cutting and Stamping Process 15

Process Videos

16

Printing Video Fiber processing video

Wafer Scan

1/25/2016 18

3.5 4 4.5 5 5.

120

140

160

180

200

220

240

260

WX target (mm)

(^310) 3.5 4 4.5 5 5.

320

330

340

350

360

370

380

390

WY target (mm)

time (sec)

Back X Linear Motor(LM)

Front X LM

Y LM

Wafer Stage

T Guide

X y

 z

Nikon Research Center for America

What are the specs for a scanning stage?

• 10 nm error
• Settling time for step – 1 ms
• 100 mm/sec scanning speed
• Fastest allowed “sampling” 0.1 ms
• Payload – 5 kg
• Make it cheap, make it robust!
  • Design variables?
    • Choose actuator
    • Choose sensor
    • Choose processor
    • Choose control law

1/25/2016 19

Scanner Test-bed

1/25/2016 21

Plant Model with Actuator Saturation Reference Trajectory

[ Mishra, 2007]

1/25/2016 22

[ Wafer Scanning Test-bed, MSC Lab, UC Berkeley]