Brief Description
Mechatronics, as an engineering discipline, is the synergistic combination of mechanical engineering, electronics, control engineering, and computers, all integrated through the design process. It involves the application of complex decision making to the operation of physical systems. Mechatronic systems depend for their unique functionality on computer software. This course studies mechatronics at a theoretical and practical level; balance between theory/analysis and hardware implementation is emphasized; emphasis is placed on physical understanding rather than on mathematical formalities. A case-study, problem-solving approach, with video hardware demonstrations, is used throughout the course.

Mechatronics I Topics

Introduction to Mechatronics
Dynamic System Investigation Process
General Approach to Physical and Mathematical Modeling
General Concepts in Modeling
Physical & Mathematical Modeling of Mechanical, Electrical, Electromechanical, Thermal, Fluid, and Multidisciplinary Physical Systems
Modeling System Parasitic Effects; Nonlinear Behavior and Time Variation: Loading Effects
Dynamic System Analytical and Numerical, Time Response and Frequency Response
Analog Electronics for Mechatronics.

Prerequisites for Mechatronics I

Basic Knowledge of Modeling and Analysis of Dynamic Systems
Basic Knowledge of Electronics and Instrumentation

Learning Objectives for Mechatronics I and II

Understand the importance of the integration of modeling and controls in the design of mechatronic systems.
Understand the dynamic system investigation process and be able to apply it to a variety of dynamic physical systems.
Understand the importance of physical and mathematical modeling (both from first principles and using system identification experimental techniques) in mechatronic system design and be able to model and analyze mechanical, electrical, electromechanical, fluid, thermal, chemical, and multidisciplinary systems.
Be able to develop a hierarchy of physical models for a dynamic system, from a truth model to a design model, and understand the appropriate use of this hierarchy of models.

Understand the key elements of a measurement system and the basic performance specifications and physical/mathematical models of a variety of analog and digital motion sensors.
Understand the characteristics and models of various electromechanical actuators (brushed dc motor, brushless dc motor, and stepper motor) and hydraulic and pneumatic actuators.
Understand analog and digital circuits and components and semiconductor electronics as they apply to mechatronic systems.
Understand and be able to apply various control system design techniques: open-loop feedforward control, classical feedback control (root-locus and frequency response), and state-space control.
Have a general understanding of more advanced control design techniques: cascade control, inferential control, model predictive control, adaptive control, fuzzy logic control, and multivariable control.
Understand the digital implementation of control and basic digital control design techniques.
Be able to use a microcontroller as a mechatronic system component, i.e., understand programming and interfacing issues.
Be able to apply all these skills to the design of a mechatronic system.
The true mechatronics engineer is that rare individual who has a genuine interest and ability across a wide range of technologies, and who takes delight in working across disciplinary boundaries to identify and use the particular blend of technologies which will provide the most economic, elegant, and appropriate solution to the problem in hand. Furthermore, he/she is a high communicator who has the knack of being able to enthuse others about technologies outside their own, and hence to break down built-in resistance to the use of alternative approaches. To evaluate concepts generated during the design process, without building and testing each one, the mechatronics engineer must be skilled in the modeling, analysis, and control of dynamic systems and understand the key issues in hardware implementation. These two courses strive to develop in each student a balance between these. This course studies in depth the key areas of technology on which successful mechatronic designs are based and thus lays the foundation for the students to become true mechatronic engineers.

References for Mechatronics I and II

Dynamics of Physical Systems, R.H. Cannon, McGraw-Hill, 1967.
System Dynamics, E. O. Doebelin, Marcel Dekker, 1998.
System Modeling and Response: Theoretical and Experimental Approaches, E.O. Doebelin, Wiley, 1980.
Control System Principles and Design, E.O. Doebelin, Wiley, 1985.
Modeling, Analysis, and Control of Dynamic Systems, W.J. Palm, 2nd Edition, Wiley, 1999.
Computer Control of Machines and Processes, J. Bollinger & N. Duffie, Addison-Wesley, 1989.
Control Sensors and Actuators, C.W. deSilva, Prentice-Hall, 1989.
Feedback Control of Dynamic Systems, Franklin, G., Powell, J., and Emami-Naeini, A., 4th Edition, Prentice Hall, 2002.
Design with Microprocessors for Mechanical Engineers, A.K. Stiffler, McGraw-Hill, 1992.
Measurement Systems, E.O. Doebelin, 4th Edition, McGraw-Hill, 1990.
Art of Electronics, Horowitz, P. and Hill, W., 2nd Edition, Cambridge University Press, 1989.
Control of Fluid Power: Analysis and Design, 2nd Edition, D. McCloy and H.R. Martin, Ellis Horwood Limited, 1980.
The Control Handbook, W. Levine, Editor, CRC press, 1996.
Digital Control of Dynamic Systems, Franklin, G., Powell, J., and Workman, M., 3rd Edition, Addison-Wesley, 1998.
Product Design and Development, Ulrich, K. and Eppinger, S., McGraw-Hill, 1995.
Analysis and Design of Dynamic Systems, 3rd Edition, I. Cochin and W. Cadwallender, Addison-Wesley, 1997.
System Dynamics, 3rd Edition, K. Ogata, Prentice-Hall, 1998.
System Dynamics: An Introduction, D. Rowell and D. Wormley, Prentice-Hall, 1997.
Modeling and Analysis of Dynamic Systems, 2nd Edition, C. Close and D. Frederick, Houghton Mifflin, 1993.
Discrete-Time Control Systems, 2nd Edition, K. Ogata, Prentice-Hall, 1995.
Real-Time Software for Control, D. Auslander & C. Tham, Prentice-Hall, 1990.

Academic Mechatronic System Case Studies
Several mechatronic system case studies, with accompanying video of hardware demonstrations, will be used throughout the two courses. The purpose of these case studies is to help develop in each student a balance among: modeling, analysis, and control techniques; computer simulation and interpretation of results; key issues of hardware implementation; and comparison of simulations and experiments. The defining quality of a mechatronics engineer is the ability to work competently in these four areas. The mechatronic system case studies presented are:

Spring-Pendulum Dynamic System
Two-Mass, Three-Spring Dynamic System
Rotary Inverted Pendulum Dynamic System
Thermal System Closed-Loop Computer Temperature Control
Pneumatic Servomechanism Closed-Loop Computer Position Control
Stepper Motor Open-Loop and Closed-Loop Computer Motion Control
Brushed DC Motor Closed-Loop, Analog and Digital, Position and Velocity Control
DC Motor / MR Fluid Brake Closed-Loop Computer, Velocity and Position Control
Magnetic Levitation System