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The book has been prepared for the needs of those who seek an application on developing embedded mechatronics system easy for control purposes. The choice of material is guided by the basic objective of making an engineer or student capable of dealing with embedded system design. The book can be used as a textbook, reference book, laboratory exercise for a first course in Linux®-based embedded system, xPC-Target, PIC-Microchip, ARDUINO®, and Raspberry Pi. The contents of the book are organized into seven main chapters with program codes. The main chapters include sections on Linux®-based system design, model-based simulation, and xPC-Target system design. In these chapters, it contains applications on various real-life systems such as the underwater robotics vehicle, vacuum cleaning, climbing robot for inspection, magnetic levitation for conveyor system, temperature monitoring, face recognition and vision-based inspection using camera, and vibration sensor. As it is not possible to cover every single subject in each chapter, the chapters therefore emphasize on certain topics in the embedded systems design process. The software adopted throughout the chapters are Ubuntu/ FedoraTM, PythonTM, QtTM, MATLAB®/Simulink®, and other open-source software development kits from PIC-Microchip, ARDUINO®, and R.
The book has been prepared for the needs of those who seek an application on developing embedded mechatronics system easy for control purposes. The choice of material is guided by the basic objective of making an engineer or student capable of dealing with embedded system design. The book can be used as a textbook, reference book, laboratory exercise for a first course in Linux®-based embedded system, xPC-Target, PIC-Microchip, ARDUINO®, and Raspberry Pi. The contents of the book are organized into seven main chapters with program codes. The main chapters include sections on Linux®-based system design, model-based simulation, and xPC-Target system design. In these chapters, it contains applications on various real-life systems such as the underwater robotics vehicle, vacuum cleaning, climbing robot for inspection, magnetic levitation for conveyor system, temperature monitoring, face recognition and vision-based inspection using camera, and vibration sensor. As it is not possible to cover every single subject in each chapter, the chapters therefore emphasize on certain topics in the embedded systems design process. The software adopted throughout the chapters are Ubuntu/ FedoraTM, PythonTM, QtTM, MATLAB®/Simulink®, and other open-source software development kits from PIC-Microchip, ARDUINO®, and R.
In operation, mechatronics embedded systems are stressed by loads of different causes: climate (temperature, humidity), vibration, electrical and electromagnetic. These stresses in components induce failure mechanisms should be identified and modeled for better control. AUDACE is a collaborative project of the cluster Mov'eo that address issues specific to mechatronic reliability embedded systems. AUDACE means analyzing the causes of failure of components of mechatronic systems onboard. The goal of the project is to optimize the design of mechatronic devices by reliability. The project brings together public sector laboratories that have expertise in analysis and modeling of failure, major groups of mechatronics (Valeo and Thales) in the automotive and aerospace and small and medium enterprises that have skills in characterization and validation tests. - Find and develop ways to characterize and validate the design robustness and reliability of complex mechatronic devices - Develop ways to characterize physical and chemical phenomena, - Identify mechanisms of failure of components of these devices, - Analyze the physical and / or chemical mechanisms of failure, in order of importance - To model failure mechanisms and design optimization.
This book is intended to meet the needs of those who seek to develop control systems for ROVs when there is no model available during the initial design stage. The modeling, simulation and application of marine vehicles like underwater robotic vehicles (URVs) are multidisciplinary, and combine mathematical aspects from various engineering disciplines. URVs such as remotely operated vehicle (ROVs) are used for a wide range of applications such as exploring the extreme depths of our ocean, where a hard-wired link is still required. Most ROVs operate in extreme environments with uncertainties in the model prior to control system design. However, the method involved extensive testing before the system model could be used for any control actions. It has been found that the range of error can be extensive and uncertain in actual, continuously varying conditions. Hence, it is important to address the problem of reliance on model testing using different modeling approaches. In this book, approaches such as WAMIT, ANSYS-CFX, STAR CCM+, MATLAB and Simulink are used to model parameters for ROVs. A few benchmark models are provided, allowing researchers and students to explore and test different control schemes. Given its scope, the book offers a valuable reference guide for postgraduate and undergraduate students engaged in modeling and simulation for ROV control.
This book supports readers in the development of a remotely operated vehicle (ROV) pilot training simulator by exploiting open-source or free gaming software and emphasizing the importance of using established and widely-available game design techniques to provide engaging scenarios for ROV training developers and trainees. There is no such book to guide the users to create an open-source virtual simulator for pilot training in the marine and offshore industry. This book can be used as a reference for undergraduate and postgraduate students, engineers, researchers, and lecturers in VR simulation using UnityTM as the leading software. Some of the key features of the book include: • Step-by-step procedures in development ROV pilot training simulator • Use of open-source software UnityTM that is freely available to all readers • The codes used in the book are self-sufficient as there are no codes hidden from readers
Mechatronics brings together computer science, mechanics and electronics. It enables us to improve the performances of embedded electronic systems by reducing their weight, volume, energy consumption and cost. Mechatronic equipment must operate without failure throughout ever-increasing service lives. The particularly severe conditions of use of embedded mechatronics cause failure mechanisms which are the source of breakdowns. Until now, these failure phenomena have not been looked at with enough depth to be able to be controlled. Embedded Mechatronic Systems 1, Second Edition presents two methodologies: the statistical approach to the design optimization by reliability and the experimental approach for the characterization of the development of mechatronic systems in operating mode. It also analyzes new analysis tools on the effects of thermal, vibratory, humidity, electric and electromagnetic stresses. Presents a statistical approach to the design optimization by reliability It presents an experimental approach for the characterization of the development of mechatronic systems in operating mode The book analyzes new analysis tools on the effects of thermal, vibratory, humidity, electric and electromagnetic stresses
Embedded Mechatronic Systems 2: Analysis of Failures, Modeling, Simulation and Optimization presents advances in research within the field of mechatronic systems, which integrates reliability into the design process. Providing many detailed examples, this book develops a characterization methodology for faults in mechatronic systems. It analyzes the multi-physical modeling of faults, revealing weaknesses in design and failure mechanisms. This development of meta-models enables us to simulate effects on the reliability of conditions of use and manufacture. - Provides many detailed examples - Develops a characterization methodology for faults in mechatronic systems - Analyzes the multi-physical modeling of faults, revealing weaknesses in design and failure mechanisms
Control system design is a challenging task for practicing engineers. It requires knowledge of different engineering fields, a good understanding of technical specifications and good communication skills. The current book introduces the reader into practical control system design, bridging the gap between theory and practice. The control design techniques presented in the book are all model based., considering the needs and possibilities of practicing engineers. Classical control design techniques are reviewed and methods are presented how to verify the robustness of the design. It is how the designed control algorithm can be implemented in real-time and tested, fulfilling different safety requirements. Good design practices and the systematic software development process are emphasized in the book according to the generic standard IEC61508. The book is mainly addressed to practicing control and embedded software engineers - working in research and development – as well as graduate students who are faced with the challenge to design control systems and implement them in real-time.
A set of original results in the ?eld of high-level design of logical control devices and systems is presented in this book. These concern different aspects of such important and long-term design problems, including the following, which seem to be the main ones. First, the behavior of a device under design must be described properly, and some adequate formal language should be chosen for that. Second, effective algorithmsshouldbeusedforcheckingtheprepareddescriptionforcorrectness, foritssyntacticandsemanticveri?cationattheinitialbehaviorlevel.Third,the problem of logic circuit implementation must be solved using some concrete technological base; ef?cient methods of logic synthesis, test, and veri?cation should be developed for that. Fourth, the task of the communication between the control device and controlled objects (and maybe between different control devices)waitsforitssolution.Alltheseproblemsarehardenoughandcannotbe successfully solved without ef?cient methods and algorithms oriented toward computer implementation. Some of these are described in this book. The languages used for behavior description have been descended usually from two well-known abstract models which became classic: Petri nets and ?nite state machines (FSMs). Anyhow, more detailed versions are developed and described in the book, which enable to give more complete information concerningspeci?cqualitiesoftheregardedsystems.Forexample,themodelof parallelautomatonispresented,whichunliketheconventional?niteautomaton can be placed simultaneously into several places, calledpartial. As a base for circuit implementation of control algorithms, FPGA is accepted in majority of cases.
Many mechatronic systems have challenging control difficulties due to the high nonlinear structures and time-varying dynamic behaviors. In addition to these, there are external disturbances, which cannot be predicted and change according to uncontrolled working environments. Conventional controllers are insufficient to solve the aforementioned problems and to compensate the environmental disturbances. Therefore, adaptive controllers have been proposed as a solution to these inefficiencies of conventional controllers. Adaptive control is applied for solving the control problem of the mechatronic sun tracker that ensures the movement of the mechanism to harvest maximum energy coming from solar to the PV module surface during the sunshine duration. For this type of control problems, conventional controllers are very limited and they have a lot of deficiencies. The adaptive mechanism governed by an adaptation law is the heart of any adaptive controller. We establish the adaptation law for the plant control system using Lyapunov stability theory. This adaptation law is precise for a generic second-order system; hence, it is obviously applicable for adaptive control of other second-order systems in different realms, such as industrial production system, military, and robotics.