Mechatronics and the Design of Intelligent Machines and Systems

361 Pages·2000·25.902 MB·\361

by  David Allan Bradley (Author), Derek Seward (Author), David Dawson (Author), Stuart Burge (Author)

Mechatronics

Mechatronics
and the design of intelligent
machines and systems
David Bradley
Professor of Mechatronic Systems, School of Science and Engineering
University of Abertay Dundee
Derek Seward
Senior Lecturer, Engineering Department
Lancaster University
David Dawson
Senior Lecturer, Engineering Department
Lancaster University
Stuart Burge
BHW Partnership
Published in 2000 by
CRC Press
Taylor & Francis Group
6000 Broken Sound Parkway NW, Suite 300
Boea Raton, FL 33487-2742
IQ 2000 by David Bradley, Derek Seward, David Dawson and Stuart Burge
CRC Press is an imprint of Taylor & Franeis Group
No claim to original U.S. Government works
Printed in the United States of America on acid-free paper
10 9 8 7 6 5 4
International Standard Book Number-lO: 0-7487-5443-1 (Softeover)
International Standard Book Number-I 3: 978-0-7487-5443-4 (Softcover)
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Contents
Preface ix
1 Of machines and mechatronics 1
1.1 Introduction 1
1.2 Mechatronics and technology 12
1.3 Engineering design and mechatronics 20
1.4 Mechatronics and concurrent engineering 30
1.5 Summary 39
2 Mechatronics and intelligent systems 40
2.1 What is intelligence? 40
2.2 Intelligent machines 46
2.3 Artificial intelligence and expert systems 47
2.4 Architectures 52
2.5 Safety 56
2.6 Operating modes 57
2.7 Summary 58
2.8 Case study: An intelligent robot for unstructured
environments - autonomous robotic excavator 59
3 A mechatronic design process 63
3.1 Introduction 63
3.2 Engineering design models 64
3.3 A mechatronic design framework 67
3.4 Summary of principles 71
3.5 Approaches to designing mechatronic hardware 71
4 Requirements interpretation for mechatronic systems 83
4.1 Introduction 83
4.2 Customer requirements and the product life cycle 84
4.3 Customer requirements 86
4.4 Customer requirements and the mechatronic system
design framework 90
4.5 Requirements interpretation 92
4.6 Summary or beyond requirements interpretation 112
4.7 Case study: autonomous robotic excavator 113
5 Artificial intelligence 114
5.1 Introduction 114
5.2 AI programming versus' conventional' programming 114
5.3 Knowledge acquisition 1"1;;
o
I Contents
5.4 Knowledge representation 118
5.5 Searching for solutions 132
5.6 Case study: the use of artificial intelligence for an
automated robotic excavator 139
6 Neural networks and fuzzy systems 147
6.1 Neural networks 148
6.2 Artificial neural networks 149
6.3 The Adeline 150
6.4 The Perceptron 150
6.5 Kohonen network 157
6.6 Adaptive resonant theorem networks 158
6.7 Hopfield network 161
6.8 Implementation of neural networks 164
6.9 Fuzzy systems 164
6.10 Fuzzy sets 165
6.11 Set operations 169
6.12 Fuzzy reasoning and control 170
6.13 Developing a fuzzy system 176
6.14 Fuzzy-neural systems 177
7 Software 179
7.1 Int rodu ction 179
7.2 Software development process models 180
7.3 Software methods 182
7.4 Requirements 183
7.5 Design 191
7.6 Object-oriented methods 194
7.7 Testing 198
7.8 Case study: the role of software in automated and
robotic excavation 203
8 User interfaces 206
8.1 Introduction 207
8.2 The design of the human-machine interface 207
8.3 Tele-operation 217
8.4 Summary 218
8.5 Case study: prototyping and user interface design 218
9 System safety 223
9.1 Int rodu ction 223
9.2 Background to safety 223
9.3 The IEC 1508 approach 226
9.4 Case study: the role of safety in automated and robotic
excavation 239
10 Manufacturing technology 246
10.1 Introduction 246
10.2 Computer numerically controlled machines, an overview 251
10.3 CNC machines and programming 253
10.4 Essentials of cell manufacturing and FMS 257
10.5 Parts classification systems and design by features 258
10.6 The extension of FMS to CIM 262
10.7 CIM architectures 263
Contents vii
10.8 Identifying information flow in the CIM system 265
10.9 Databases in manufacturing 266
10.10 In-process gauging and co-ordinate measurement 268
10.11 Rapid prototyping and modelling 270
10.12 CAD-CAM integration and rapid prototyping 273
10.13 Rapid tool making 273
10.14 Principles of design for ease of (automated) assembly 274
10.15 Sensors in manufacturing 277
10.16 On-line monitoring of manufacturing equipment 280
10.17 Automatic guided vehicles and parts handling 281
11 Future developments in mechatronics 284
11.1 Automotive systems 284
11.2 Home systems 285
11.3 Telecare and telehealth 286
11.4 Automation and robotics 287
11.5 Manufacturing 287
11.6 Design 288
11.7 Summary 288
12 Case studies in mechatronics 289
12.1 Mechatronic guided bus 289
12.2 Microsystems, MEMS and built-in-sel£-test 296
12.3 High-speed tilting trains 304
12.4 A practical application of expert systems design 307
12.5 The Torotrak infinitely variable transmission: optimising
power transmission systems, a goal within sight? 315
Bibliography 321
Index 339

Preface
The past few years have seen mechatronics have an increasing impact on engi
neering and engineering education as a defining approach to the design, devel
opment and operation of an increasingly wide range of engineering systems. In
addition, mechatronics is now recognised as involving not only the technical
aspects of its core disciplines - mechanical engineering, electrical and electronic
engineering and software - but also aspects of organisation, training and man
agement. Indeed, in its approach to engineering product development, mecha
tronics has much in common with concurrent engineering strategies.
The WHAT of mechatronics
It can be argued that it is the development of the microprocessor and the sub
sequent growth in microelectronics technologies and the support that it pro
vides for the' transfer of complexity' from the mechanical to the electronic and
software domains that is at the heart of mechatronics. The resulting systems
are more complex with higher levels of performance and greater reliability
than their predecessors, all achieved at significantly reduced real costs.
The WHY of mechatronics
In an increasingly competitive and global market, companies need to have the
ability to increase the competitiveness of their products through the use of
technology and must be able to respond rapidly and effectively to changes in
the market place. Mechatronic strategies have been shown to support and
enable the development of new products and markets such as the compact disc
player as well as through enhancing existing products while responding to the
introduction of new product lines by a competitor.
The influence of mechatronics as a driver of the product development
process is perhaps most strongly witnessed in the automotive industry where
vehicle systems have become increasingly more mechatronic in nature with
features such as engine management systems, traction control and ABS now
commonplace. Future developments include drive-by-wire, collision avoid
ance systems, lane tracking and navigational control.
However, and whatever the level of technology, the motivation for the adop
tion by a company of a mechatronic approach to product development and
manufacturing must be one of providing the company with a strategic and
commercial advantage either through the development of new and novel
products, through the enhancement of existing products, by gaining access to
new markets or some combination of these factors.