Mechatronics Technology is a growing career field that deals with the integration of mechanical and electronic components managed by control systems. Mechatronics technicians troubleshoot, maintain and repair mechanical equipment controlled by electrical, electronic and computer systems. These types of systems are increasingly used in a wide variety of manufacturing and industrial settings. Clark College's Mechatronics Technology (MTX) classes emphasize current concepts and technology by providing practical, hands-on experiences with the latest, industry standard equipment. In addition to the technical knowhow needed to maintain and repair equipment, the certificate and degree programs will help prepare students to think critically, function as a successful team member and communicate clearly too internal and external customers.

Mechatronics기술개발 현황과 과제

Nowadays, classical washout filters are extensively used in commercial motion simulators. Even though there are several advantages for classical washout filters, such as short processing time, simplicity and ease of adjustment, they have several shortcomings. The main disadvantage is the fixed scheme and parameters of the classical washout filter cause inflexibility of the structure and thus the resulting simulator fails to suit all circumstances. Moreover, it is a conservative approach and the platform cannot be fully exploited. The aim of this research is to present a fuzzy logic approach and take the human perception error into account in the classical motion cueing algorithm, in order to improve both the physical limits of restitution and realistic human sensations. The fuzzy compensator signal is applied to adjust the filtered signals on the longitudinal and rotational channels online, as well as the tilt coordination to minimize the vestibular sensation error below the human perception threshold. The results indicate that the proposed fuzzy logic controllers significantly minimize the drawbacks of having fixed parameters and conservativeness in the classical washout filter. In addition, the performance of motion cueing algorithm and human perception for most occasions is improved.

Incorporating Human Perception With the Motion Washout Filter Using Fuzzy Logic Control

The motion cueing algorithms (MCAs) is the method that reproduces the motion sensation of the real vehicle for the users of simulation-based motion platforms (SBMPs). Classical MCA is the most common type of MCA due to its simplicity, easy tunning procedure, and higher speed. The fixed neutral position of the SBMP restricts the available workspace and makes the motions of the platform conservative. Then, the high frequency motion inputs cannot be reproduced precisely using SBMP and it increases the motion sensation error between the SBMP and real vehicle driver. The main objective of this study is to enlarge the reachable workspace of the SBMP adaptively using the new prepositioning technique based on fuzzy logic and artificial neural network (ANN). Prepositioning of the SBMPs to an off-centre point can increase the available linear space of the SBMPs based on different driving scenarios to decrease the motion sensation error. The fuzzy logic-based units are working based on the current position of the SBMP and the predicted motion signals. Therefore, the ANN is employed to forecast the motion signal of the SBMP on the finite history of input. The prepositioning of the SBMP using fuzzy logic and ANN is established for the first time in this research with consideration of the road information and vehicle motion information. The proposed method is performed and validated using MATLAB/Simulink and the outcomes show that using the new prepositioning method will lead to better driving sensation with less wrong motion sensation errors compared with the non and previous prepositioning methods.

Prepositioning of a Land Vehicle Simulation-Based Motion Platform Using Fuzzy Logic and Neural Network

Motion simulation platforms (MSPs) are widely used to generate driving/flying motion sensations for the users. The MSPs have a restricted workspace area due to the dynamical and physical restrictions of the Motion Platforms active joints as well as the physical limitations of its passive joints. The motion cueing algorithm (MCA) is the reproduction of the motion signal including linear accelerations and angular velocities. It aims to simultaneously respect the MSP's workspace limitations and make the same motion feeling for the user as a real vehicle. The Classical washout filter (WF) is a well-known type of MCA. The classical WF is easy to set-up, offers a low computational burden and high functionality but has some major drawbacks such as fixed WF parameters tuned according to worst-case scenarios and no consideration of the human vestibular system. As a result, adaptive WFs were developed to consider the human vestibular system and enhance the efficiency of the method using time-varying filters. The existing adaptive WFs only cogitate the boundaries of the end-effector in the Cartesian coordinate space as a substitute for the active and passive joints limitations, which is MSP's main limiting factor. This conservative assumption reduces the available workspace area of the MSP and increases the motion sensation error for the MSPs user. In this study, a fuzzy logic-based WF is developed, to consider the dynamical and physical boundaries of the active joints as well as the physical boundaries of the passive joints. A genetic algorithm is used to select the membership functions’ values of the active and passive joints’ boundaries. The model is designed using MATLAB /Simulink and the outcomes demonstrate the efficiency of the proposed method versus existing adaptive WFs.

/pdf/adaptive-washout-filter-based-on-fuzzy-logic-for-a-motion-4h8vg0mvh8.pdf

Adaptive Washout Filter Based on Fuzzy Logic for a Motion Simulation Platform With Consideration of Joints’ Limitations

In this paper the object oriented programming concept is applied to finite element method. According to the nature of the finite element analysis, the classes and their methods, which describe virtual element, node, material etc., have been developed and implemented using the object oriented programming language C++. The elements, nodes and materials are stored by chain. Many type elements are stored in mix by polymorphism characteristics. The program is codified and an example is given to show the programming of finite element method.

Object-Oriented Finite Element Programming

Industrial robots are programmed to repeat a sequence of well-defined tasks, eg deburring, cutting and welding The production cycle time is directly influenced by the task order as well as the way trajectories linking this tasks are generated In this letter, we present an optimization approach that minimizes the production time as well as the overall movements duration of the robots We propose a fast algorithm that generates a sequenced near-optimal solution for Multi-Robotic Task Sequencing Problem We model the problem in the form of a new min (sum-max) Multiple Generalized Traveling Salesman Problem ‘min(sum-max) MGTSP’ model Near-optimal solutions are obtained to automatically minimize cycle time in collision-free path The originality of our method lies in its flexibility and ability to be integrated into industrial processes In this study, we perform a double optimization in both the task and configuration space Also, the proposed algorithm is able to automatically plan a collision-free trajectory between two robots’ configurations by generating relevant via points which minimizes movements duration Comparing to other approaches, experiment reveal positive results in terms of efficiency and demonstrate the ability of this method to be integrated into existing industrial software

/pdf/multi-robot-task-sequencing-automatic-path-planning-for-5grm25bpjz.pdf

Multi-Robot Task Sequencing & Automatic Path Planning for Cycle Time Optimization: Application for Car Production Line

This paper presents the various stages for the construction of a two wheeled riding simulator. Despite its simplicity, the particularity of this simulator comes from the possibility to reproduce most of the movements and the inertial effects allowing to perceive sensations close to reality cases. This simulator has been developed for two purposes: ldr as a training tool for new riders with different scenarios: normal traffic environment, dangerous riding situations (avoidance, emergency braking, nearly failling or slipping situations, bad weather conditions, etc.) ldr to study riders behaviours in such situations Our studies have lead to an original 5 degrees of freedom (DOF) mechanical platform including a double haptic feedback on the handlebar. The three basic movements are classical and consist of pitch, roll and yaw one. The choices of the platform movements and the system actuation are motivated and described. Also, some performances results are shown validating the initial requirements.

/pdf/design-and-modeling-of-a-new-motorcycle-riding-simulator-5e4x92ek94.pdf

Design and Modeling of a New Motorcycle Riding Simulator

This paper presents a motorcycle direct dynamic formulation by the Jourdain's principle approach. This vehicle is considered as an assembly of six rigid bodies and the resulting equation of motion allows to simulate 11 degrees of freedom. The vehicle geometry is described and a step-by-step procedure is introduced to evaluate the kinematics and the generalised efforts of the considered vehicle. In addition, to simulate the equation of motion, a Lyapunov-based stabilisation is developed to assess the vehicle behaviour in response to a propulsion/braking torque applied on the vehicle's wheels and a rider torque exerted on the motorcycle's handlebar. Simulation results reveal some dynamic features such as load transfer and counter-steering phenomena.

https://hal.archives-ouvertes.fr/hal-00786265/document

Dynamic modelling of a two-wheeled vehicle: Jourdain formalism

http://lmee.univ-evry.fr/%7Efeng/AES04.pdf

FER/Mech: a software with interactive graphics for dynamic analysis of multibody system

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Multi-Robot Task Sequencing & Automatic Path Planning for Cycle Time Optimization: Application for Car Production Line

Design and Modeling of a New Motorcycle Riding Simulator

Dynamic modelling of a two-wheeled vehicle: Jourdain formalism

FER/Mech: a software with interactive graphics for dynamic analysis of multibody system

Design and Modeling of a New Motorcycle Riding Simulator