2. What is Mechatronics? Mechatronics is the synergistic combination of mechanical engineering, electronics, controls 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.

3. Mechatronics Mechatronics is the integration of computer Engineering, electronics, control engineering and mechanical engineering. The integration across the traditional boundaries of mechanical engineering, electronics and control engineering has to occur at the earliest stages of the design process if cheaper, more reliable, and more flexible systems are to be developed. Mechatronics involves sensors and measurement systems, drive and actuation systems, analysis of the behavior of systems, control systems, and micro-processor systems.

4. Mechatronics The primary disciplines important in the design of mechatronic systems include mechanics, electronics, control and computer engineering.” A mechatronic system engineer must be able to design and select analog and digital circuits, microprocessor-based components, mechanical devices, sensors and actuators, and controls so that the final product achieves a desired goal. Term coined in Japan in the late 60’s

5. Consider a typical mechatronic system Analog Filtering Analog to Digital Conversion Digital Computer Digital to Analog Conversion ActuatorsProcessSensors Reference Signal Measured Signal + - In this course we will mainly focus on the filled boxes Analog Filtering – Needed for conditioning of input signals A/D and D/A Conversion – For creating the interface between physical signals (voltages) and computer signals (zeros and ones) Actuators and Sensors – For changing the system and measuring its response Mathematical modeling – For design and control purposes Modeling

6. Examples Brushless dc motor Vending machines ATM machines Inkjet printers Photocopiers Air conditioning units Internal combustion (IC) engine Gear pump Auto camera Washing machines Automobile Mobile Phone Large number of movies located at http://www.engr.colostate.edu/~dga/video_demos/mechatronics/index.html

8. 1.2 Systems What is a System?  Group of Components that work together for a purpose  Service  Product  Process  Attributes: discernable manifestations of the components  Relationships are links between Components & Attributes

9. Components Properties  Properties & Behavior of each Component has an influence on the properties & behavior of the set as a whole  Properties & Behaviors of each component of the set depends on the properties & behaviors of at least one other component  Each possible subset of the components has the two properties listed above: I.E. the components cannot be divided into independent subsets

10. A system can be thought of as a black box which has an input and an output.

11. A sensor-- responding to the quantity being measured by giving as its output a signal which is related to the quantity. A signal conditioner — taking the signal from the sensor and converting it into a condition which is suitable for either display, or, in the case of a control system, for use to exercise control. A display system — displaying the output of signal conditioner. 1.3 Measurement systems

12. 1.4 Control systems 1.4.1 Open- and closed-loop systems Open-loop systems—simple, low cost and good reliability. Closed-loop systems—accurate, more complex and high cost.

13. 1.4.2 Basic elements of a closed-loop system 1). Comparison element 2). Control element 3). Correction element (actuator) 4). Process element 5). Measurement element

18. 1.4.3 Sequential controllers Washing machine system 1.4.4 Microprocessor-based controllers (programmable logic controller) Microprocessor-based controller which uses programmable memory to store instructions and to implement functions such as logic, sequence, timing counting and arithmetic to control events.

19. 1.5Digital control and logic gates Analogue control is when the control is continuous with input signals from sensors and output signals to the actuators being continuously variable. Digital control is when the control is discontinuous. 1.5.1 Logic gates

20. Digital Circuits – NOT Gate  Logic Diagram  Single input  Truth Table  Boolean expression: Also referred to as an inverter ● Also referred to as an inverter AX 01 10

21. Digital Circuits – AND Gate ABX 000 010 100 111  Logic Diagram  2-input AND Gate  Boolean Expression:  Truth Table

22. Digital Circuits – NAND Gate ABX 001 011 101 110  Logic Diagram  2-input NAND Gate  Boolean Expression:  Truth Table

23. Digital Circuits – NAND Gate ABX 001 011 101 110  Timing Diagram  2-input NAND Gate  Truth Table

24. Digital Circuits – NAND Gate  Logic Diagram  3-input NAND Gate  Boolean Expression: ABCX 0001 0011 0101 0111 1001 1011 1101 1110  Truth Table

25. NAND Gate  Referred to as a universal gate – any of the basic logical operations can be performed with NAND gates.  Any digital system can be implemented with NAND gates alone.

26. NAND Gate  Configuring a NAND gate as an Inverter

27. NAND Gate  Configuring a NAND gate as an AND gate

28. NAND Gate  Configuring a NAND gate as an OR gate ABX 000 011 101 111  Truth Table

29. 1.6 The mechatronics approach Mechatronics involves the bringing together of a number of technologies: mechanical engineering, electronic engineering, electrical engineering, computer technology, and control engineering. Mechatronics can be considered to be the application of computer-based digital control techniques, through electronic and electric interfaces, to mechanical engineering problem.

31. Homework: page 15 problem 4,8

32. LEVELS OF EDUCATIONAL OBJECTIVES (Bloom, 1956)  Knowledge - recall, recognition  Comprehension - understanding the literal message, stating the message in one ’ s own words  Application - carrying over understanding into a new area  Analysis - breaking material down into its constituent parts and detecting relationships of the parts  Synthesis - putting together elements and parts to form a whole, creating something new  Evaluation - making judgments about the value of ideas, works, solutions, etc.

33. Educational Objectives  To understand, apply and synthesize mechatronics systems  To understand, apply and synthesize computer controlled systems  To develop increased creativity, teamwork, and presentation skills  To develop a greater awareness and respect for things beyond the traditional ME boundaries  To develop engineering common sense - problem avoiding and solving skills