Mechatronics - New York University
MechatronicsDr. Kevin CraigAssociate Chair for Graduate Studies &Associate Professor of Mechanical EngineeringDepartment of Mechanical Engineering, Aeronautical Engineering, & MechanicsRensselaer Polytechnic InstituteTroy, NY 12180Office: JEC 2046 Phone: 518-276-6671E-Mail: craigk@rpi.edu Fax: 518-276-6025Mechatronics Laboratory: JEC 1022 Phone: 518-276-8978MechatronicsIntroductionK. Craig1
What is Mechatronics?Mechatronics is thesynergisticcombination ofmechanicalengineering,electronics, controlsengineering, andcomputers, allintegrated through thedesign process.MechatronicsIntroductionK. Craig2
Electro-Mechanical DesignsType 1:Electronics,Computers, &Controls AddAdditionalOperationsType 2:Electronics,Computers, &Controls ImpartAdditionalFunctionsType 3:Electronics,Computers, &ControlsProvide SystemSynergyType 3Designs icsIntroductionK. Craig3
“Over the Wall” gnDesignDesignManufacture Manufacture Manufacture ManufactureMechatronicsIntroductionK. Craig4
Concurrent gnDesignDesignDesign Manufacture Manufacture Manufacture ManufactureMechatronicsIntroductionK. Craig5
ign ManufactureMechatronicsIntroductionK. Craig6
The Design ChallengeThe cost-effective incorporation ofelectronics, computers, and controlelements in mechanical systemsrequires a new approach to design.The modern engineer must drawon the synergy ofMechatronics.MechatronicsIntroductionK. Craig7
Difficulties in Mechatronic Design MechatronicsIntroductionRequires System PerspectiveSystem Interactions Are ImportantRequires System ModelingControl Systems Go UnstableK. Craig8
Balance: The Key to dwareImplementationThe Mechatronic System Design ProcessComputer Simulation Without Experimental VerificationIs At Best Questionable, And At Worst Useless!MechatronicsIntroductionK. Craig9
Balance in Mechatronics is the Key!The essential characteristic of a mechatronics engineer andthe key to success in mechatronics is a balance between thefollowing sets of skills: modeling (physical and mathematical), analysis (closedform and numerical simulation), and control design(analog and digital) of dynamic physical systems experimental validation of models and analysis (forcomputer simulation without experimental verification is atbest questionable, and at worst useless!) andunderstanding the key issues in hardware implementationof designsMechatronicsIntroductionK. Craig10
Dynamic System nalysisMechatronicsIntroductionK. Craig11
Measurements,Calculations,Manufacturer's SpecificationsModelParameterWhich Parameters to Identify?What Tests to rimentalAnalysisAssumptionsandEngineering JudgementPhysical LawsModel orAugmentEquation Solution:Analyticaland NumericalSolutionModel Adequate,Performance InadequateModel Adequate,Performance AdequateCompleteDynamic System InvestigationMechatronicsIntroductionK. Craig12
Mechatronics is NOTConcurrent EngineeringCONCURRENT ENGINEERINGBridges Design and Manufacturing.Electrical, Mechanical, Control and Computer EngineersOperate in Separate Environments.(vertical integration)MECHATRONICSIntegration of Electrical, Mechanical, Control, and ComputerEngineering Knowledgein Both Design and Manufacturing.(horizontal & vertical integration)MechatronicsIntroductionK. Craig13
Mechatronics is NOTElectromechanicsELECTROMECHANICSDesign of prime movers: a.c. motors, d.c. motors, solenoids.Design of generators. Control of motors: commutationof d.c. motors, startup of a.c. motors.MECHATRONICSThe synergistic combination of actuators, sensors, controlsystems, and computers in the design process.MechatronicsIntroductionK. Craig14
Mechatronics is MORE than justControl SystemsMechatronics draws heavily on the concepts of controlsystems only because they provide a coherentframework for system analysis.Controls are an integral component to any mechatronicdesign and not an afterthought add-on.However, open-loop and feedforward control structuresare as valid as feedback ones for design solutions.MechatronicsIntroductionK. Craig15
Benefits of MechatronicsMechatronics is spawning a new breed ofintelligent components and systems that combinean optimum blend of all available technologies. MechatronicsIntroductionShorter Development CyclesLower CostsIncreased QualityIncreased ReliabilityIncreased PerformanceIncreased Benefits to CustomersK. Craig16
The Realm of Mechatronics MechatronicsIntroductionHigh SpeedHigh PrecisionHigh EfficiencyHighly RobustMicro-MiniatureK. Craig17
Mechatronic Design Concepts Direct Drive MechanismsSimple MechanicsSystem ComplexityAccuracy and Speed from ControlsEfficiency and Reliability from ElectronicsFunctionality from MicrocomputersThink System !MechatronicsIntroductionK. Craig18
Mechatronics Engineer Leader in the initiation and integration of design Interdisciplinary knowledge of varioustechniques Ability to master the entire design process fromconcept to manufacturing Ability to use the knowledge resources of otherpeople and the particular blend of technologieswhich provide the most optimal design solutionMechatronicsIntroductionK. Craig19
Mechatronic Areas of Study Mechatronic system design principlesModeling, analysis, and control (continuous and discrete)of dynamic physical systemsAnalog and digital control electronicsControl sensors and actuatorsInterfacing sensors, actuators, and microcontrollersReal-time programming for controlAdvanced topics, e.g.,- fuzzy logic control- smart materials as sensors and actuators- magnetic bearingsMechatronicsIntroductionK. Craig20
Challenge to Industry Control Design and Implementation is still the domain ofthe specialist. Controls and Electronics are still viewed as afterthoughtadd-ons. Electronics and Computers are considered costly additionsto mechanical designs. Few engineers perform any kind of modeling. Mathematics is a subject not viewed as enhancing one’sengineering skills but as an obstacle to avoid. Few engineers can balance the modeling\analysis andhardware implementation essential for Mechatronics.MechatronicsIntroductionK. Craig21
Industry’s Choices Train the engineers you have in themechatronics approach to design. Give them the tools to be successful: Knowledge: modeling, analysis, controls Hardware: sensors, actuators, instrumentation, real-timecontrol, microcontrollers Software for Simulation and Control Design, e.g.,Matlab / Simulink, Electronics Workbench Give them the time to use these tools!MechatronicsIntroductionK. Craig22
ORHave this happen to yourengineers!MechatronicsIntroductionK. Craig23
Industry’s Bottom LineTrain your engineers in aMechatronics approach to design.Give them the tools and the time todesign with synergy andintegration.MechatronicsIntroductionK. Craig24
Mechatronics at RPIRPI MechatronicsCourses:Graduate & Undergraduate100 students / yearPortal to Industry:Professional EngineersMentoringProfessors and Studentsat RPIIntroduction toEngineering DesignSophomore Course1000 students / yearRPIMechatronicsTeachingLaboratorySchool of EngineeringCapstone Design Coursesand Student Projects500 students / yearMath, Science, EngineeringIntegrationAcross the RPI CurriculumNSF Project LINKSPDI ProgramK-12 Student & TeacherPrograms inMechatronicsRPI Center for PreCollege InitiativesRSVPDistance Learning:High SchoolsProfessionalsPreparation and Distribution of Educational Materials:Tutorials for Undergrads, HS Students, ProfessionalsbyVideotapes, CD’s, Web Sites, PublicationsMechatronicsIntroductionK. Craig25
Mechatronics Demonstrations MechatronicsIntroductionSpring-Pendulum Dynamic SystemInverted-Pendulum Dynamic System:Rotary and Arm-DrivenTwo-Mass, Three-Spring Dynamic SystemElectrodynamic Vibration ExciterHigh-Speed, Micron-Level Positioning Systemwith Variable Coulomb FrictionBall-on-Plate Balancing SystemHydraulically-Balanced Beam SystemBall-on-Beam Balancing SystemDrive-Train Friction/Backlash/Compliance TestbedK. Craig26
Spring-Pendulum Dynamic Systeml rkθMechatronicsIntroductionmK. Craig27
Mathematical Modeling and mr&& m ( l r ) θ& 2 kr F mg cos(θ) 0tAnalysis of Spring(l r)&&θ 2r&θ& gsin(θ) 0Pendulum etheta accIntegratetheta velgravity (m/s 2)cos(u)cos2GainProductSpring PendulumDynamic SystemProductu 2thetatheta positionsquareProductrr positionSum1/s1/sIntegrater accIntegrater vel95.215.710/1.815Ft 5.71 Nm 1.815 kgMechatronicsIntroductionk/mk 172.8 N/mm 1.815 kgtClocku (-1)0.333spring lengthunstretched(meters)timeSum2inverseK. Craig28
Dynamic Response of Spring-PendulumSystemSimulation Results: Initial Conditions theta 0.021 rad, r 0.115 m0.25angular and radial position (rad or tronicsIntroduction0102030time (sec)405060K. Craig29
Inverted-PendulumDynamic System:Rotary and Arm-Driven Brushed DC Motor Two Optical Encoders (2000cpr) PWM Servo-Amplifier Power Supply Pendulum Balancing Control Pendulum Swing-Up Control Classical, State-Space, andFuzzy Logic Control Converts between Rotary andArm-Driven Systems dSpace Real-Time ControlImplementationMechatronicsIntroductionK. Craig30
Multi-Mass, Multi-Spring Dynamic System MechatronicsIntroductionBrushed DC Motor with TachometerOptical Encoder with 2000 cprTwo Infrared Position SensorsFree and Forced VibrationsSystem Behavior below, at, and above resonanceDynamic Vibration AbsorberPhysical Significance of Transfer Function Poles and ZerosColocated and Non-colocated ControldSpace Real-Time Control ImplementationK. Craig31
44.5N Electrodynamic Vibration ExciterMechatronicsIntroductionK. Craig32
Physical Model of Vibration ShakerMechatronicsIntroductionK. Craig33
High-Speed, Micron-Level Positioning Systemwith Variable Coulomb Friction Actuators: Brushed DC Motor Brushless DC Motor Stepper Motor withmicrostepping 80,000 and 144,000 cprOptical Encoders Coulomb Friction Device Variable Inertia Direct or Belt Drive MatLab Modeling andControl DesignEnvironment dSpace Real-Time ControlImplementationMechatronicsIntroductionK. Craig34
Ball-on-Plate Balancing System Two Brushed DC Motors Two Optical Encoders(4000 cpr) Touch-screen ResistiveBall-Position Sensor Two PWM ServoAmplifiers Two Power Supplies Disturbance Rejection Ball Position CommandTracking, e.g., line, circle,figure eight dSpace Real-Time ControlImplementationMechatronicsIntroductionK. Craig35
Hydraulically-BalancedBeam SystemMechatronicsIntroduction System Converts betweenOpen-Loop Stable andOpen-Loop UnstableConfigurations Two Gear Pumps Two Pressure Sensors atTank Bases to DetermineLiquid Height Potentiometer for BeamAngle Two PWM ServoAmplifiers Two Power Supplies Disturbance Rejection Position and VelocityCommand Tracking Linear and NonlinearControl Techniques dSpace Real-Time ControlImplementationK. Craig36
Ball-on-BeamBalancing SystemMechatronicsIntroduction Brushed DC Motor Beam Sensors:Optical Encoder,Tachometer,Potentiometer Ball Sensors:Ultrasonic,Potentiometer,Phototransistor PWM ServoAmplifier Power Supply DisturbanceRejection Ball PositionCommand Tracking dSpace Real-TimeControlImplementationK. Craig37
bed to Study the Effects ofGear Backlash, Drive-ShaftCompliance, Coulomb Friction& Variable Inertia on AccuratePositioningMechatronicsIntroductionK. Craig38
Mechatronic System Case Studies Thermal System Closed-Loop TemperatureComputer Control Pneumatic System Closed-Loop PositionComputer Control Stepper Motor Open-Loop and Closed-LoopComputer Position Control DC Motor Closed-Loop Speed Control Analog Control Digital Control with Embedded Microcontroller Magnetic Levitation System MR Fluid Rotary Damper SystemMechatronicsIntroductionK. Craig39
Two-Person MechatronicsLaboratory Station Pentium Computerwith MATLAB,ElectronicsWorkbench, andWorking Model Function Generator Digital Oscilloscope Multimeter Powered Protoboard Microcontroller Assorted analog /digital sensors,actuators andcomponentsMechatronicsIntroductionK. Craig40
Blue Earth Micro 485 SpecificationsBlue Earth Micro 485 tel 8051 running at 12 MHzDigital I/O27 Bi-directional TTL compatible pinsAnalog Inputs4 12-bit 0-5 volt A/D converter channelsSerial CommunicationRS-422, RS-232RAM128K, battery-backed for retention after power downROM32K, contains on-board Basic and MonitorMechatronicsIntroductionK. Craig41
Thermal System Closed-LoopTemperature Control aluminum plate thin-film resistive heater ceramic insulation conduction and convectionheat transfer AD590 temperature sensor microcontroller on-off closed-loop controlwith relay support analog electronicsMechatronicsIntroductionK. Craig42
Pneumatic System Closed-Loop PositionControl 3/4” bore, double-acting, nonrotating air cylinder linear potentiometer to measuremass position 30 psig air supply two flow-control valves two 1/8”ported, 3-way, springreturn, two-positionsolenoid valves Darlington switches toenergize solenoids microcontroller on-off, modified on-off, PWMclosed-loop controlMechatronicsIntroductionK. Craig43
Schematic of Pneumatic ServomechanismPneumatic Positioning Closed-Loop Control SystemPowerSupplySupply Air30 psigValve AValve BManual Flow Control ValvesDarlingtonSwitches1/8 Inch Ported, 3-Way, Spring-Return,Two-Position, Solenoid ValvesMicrocontrollerwith 12-BitA/D ConverterPiston ShaftAChamber 1PistonBMassChamber 2Actuator3/4 Inch Bore, Double-Acting,Non-Rotating Air Cylinder5 VoltsLinear Potentiometer4-Inch StrokeMechatronicsIntroductionK. Craig44
Stepper MotorOpen-Loop and Closed-Loop Control stepper motor optical encoder microcontroller electronics to interface themicrocontroller to themotor and encoder full-step and half-stepoperation control via a Quad-DarlingtonIC control via a step-motor-driverIC programming in Basic or CMechatronicsIntroductionK. Craig45
Stepper Motor SystemDesign:Ink-Jet PrinterApplicationStepper Motor Open-Loopand Closed-Loop ControlMechatronicsIntroductionK. Craig46
DC Motor Closed-Loop Speed Control Permanent-magnet brushedDC motor integral analog tachometer aluminum disk load inertia PWM power amplifier 24-volt, 4-amp power supply analog control design andimplementation:lead, lag, lead-lagMechatronicsIntroductionK. Craig47
Microcontrol Motor-Speed-Control Testbed Two embedded microcontrollersfrom MicroChip Inc. configuredfor: 3 channel 8-bit analog /digital (A/D) acquisition , 10-bitpulse-width-modulated (PWM)drive, serial communication toPC, general purpose digital I/O High power H-bridge for outputstage of pulse-width-modulated(PWM) driver (for d.c. motors) Hex keypad for data entry Liquid crystal display (LCD)for data display Analog electronics (op amps) formeasuring tachometer and inputreference signalMechatronicsIntroductionK. Craig48
Magnetic Levitation System Magnetically-levitated 1/2”diameter steel ball electromagnet actuator: 1/4”steel screw with3000 turns of 26gauge wire gap sensor: infra-red diodeemitter andphototransistordetector TIP-31, NPN, bipolar transistoras a current amplifier 15 volt, 5 volt power supply analog lead controller designand implementationMechatronicsIntroductionK. Craig49
Schematic OfMagnetic Levitation SystemElectromagnetPhototransistorIR LEDControllers& PowerAmplifierObjectDevice SchematicMechatronicsIntroductionK. Craig50
Mechanical System Digital Speed Controlusing DC Motor with MR Fluid Brake MR Fluid RotaryDamper Brushed DC Motorwith Gearbox Motor Tachometer Shaft Potentiometer Current Controller PWM Power Amplifier 24-Volt, 4-Amp PowerSupply AC/DC Adapter Pulley / Arm Attachedto MR FluidBrake Microcontroller withD/A ConverterMechatronicsIntroductionK. Craig51
All these systems areindustrially relevant and requirea complete dynamic systeminvestigation with a balancebetween modeling / analysis andhardware implementation.Only a Mechatronicsengineer can accomplishthis!MechatronicsIntroductionK. Craig52
MechatronicsExercise Examples Analog Electronics: Time Response,Frequency Response, Loading Effects Dynamic System Modeling and Analysis:Space Station Solar Alpha Rotary Joint Modeling, Analysis, and Control of anElectrohydraulic tionK. Craig53
Analog Electronics:RC Low-Pass FilterTime Response &Frequency ResponseTime Response10.90.8Vout1 Vin RCs 1Amplitude0.7Resistor 15 KΩ0.60.50.40.30.2VinCapacitor 0.01 µFVout0.10012345Time (sec)678x 10Time Constant τ RCMechatronicsIntroductionK. Craig54-4
Frequency Response00-20Phase (degrees)Gain dB-5-10-15-40-60-80-20-2521031010Frequency (rad/sec)4105-100210341010Frequency (rad/sec)10Bandwidth 1/τMechatronicsIntroductionK. Craig555
Analog Electronics:Loading EffectsLMV OP LMRCs 1N i Q N CsResistor 15 KΩininVinCapacitor 0.01 µFVoutOPLM OP 1 Q N i Q R VoutoutVout11 VinRCs 1 τs 1Z out Z in Vouti outVini in Vin 0 i out 0RRCs 1RCs 1Cswhen i out 0Output ImpedanceInput ImpedanceRC Low-Pass FilterMechatronicsIntroductionK. Craig56
FGHIJ FG 1 IJK H RCs 1KVout1 G (s)1 unloaded G(s)2 unloaded VinRCs 1Vout G (s)1 loaded G (s) 2 unloadedVinResistor 15 K ΩVinCapacitor 0.01 µFResistor 15 KΩCapacitor 0.01 µFVoutFF 1 IJ GG 1 GH RCs 1K G 1 ZH Zout 1 in 2IJJ FG 1 IJJK H RCs 1K1bRCs 1g2 RCsOnly if Zout-1 Zin-2 for the frequency rangeof interest will loading effects be negligible.2 RC Low-Pass Filters in SeriesMechatronicsIntroductionK. Craig57
Space Station Solar Alpha Rotary Joint:Physical System and Physical oaBodyrd xRLStatorVin im dMechatronicsIntroductionN:1Gear RatioK2JsaJobθ ′mB1θ obB2θ sa xTdK. Craig58
Solar Alpha Rotary JointMathematical ModelLM 0LM θ& ′ OP M 0MMθ&& PP MM 0KθMM &&θ′ PP MM N JMM&&θ PP MM JKMN&&θ PQ MM 1N 2J m K1 K 2J obK2J sa0000 B1N 2J mB1J ob10B1N 2J m B1 B2J obB2J sa0K2J ob K2J sa0OPL 00 PL θ ′ O M01 PMMθ PP MM 0P0 PM θ P M NKMM θ& ′ PP M N JPB PM&θ P M 0MJ PM P B PMN θ& PQ MM 0PNJ PQ0mobsat2m2ob2obsaOP0 P0 Pi OLP0 PM PNT QP0 P1 PJ PQ0mmdsasaK. Craig59
Frequency Response Plots: Input imGain dB0θobθ′m-200θsa-400-110100110Frequency troductionθ′m-1100101102103K. Craig60
Time Response: im cos(0.6t)0.02θ sa0.0180.016Amplitude0.0140.0120.01θ ′mθ 015Time (secs)2025K. Craig61
Electrohydraulic tionK. Craig62
Nonlinear ModelELECTROHYDRAULIC VALVE-CONTROLLED SERVOMECHANISMQclTo Workspace2inputTo Workspace6Xv CommandXv Step CommandXcQcrXv - Xc PositiveXv - Xc PositivePclQclQclXv - Xc PosXv - Xc NegQcr QcrPcrXv - Xc NegativeXv - Xc NegativeControllerTo Workspace3FlowXcTo Workspace1PclTo Workspace4Xc XcPclPcrXc dotMassXc dotXcQclQcrXc dotPclPcrPclPcrTo tionTo WorkspaceK. Craig63
Linear Mathematical ModelcC xxc C xxv ,pv ,pMechatronicsIntroductioncl ,phchhdxC ,pV0 dp cr ,p K pl p cl ,p p cr ,p A pM B dtdt C p p cr ,pcpch C p p cl ,pdxC ,pV0 dp cl ,p K pl p cl ,p p cr ,p A pM B dtdt p cr ,pdxC ,pd 2 x C ,pAp B f U ,p Mdtdt 2hK. Craig64
Linear ModelPcl lSum5 To ain2MB/Vo1/sCpGain3Gain5Gain7Sum6Aptime lTo WorkspaceClock0Sum4DisturbancefuGain8Pcr lTo Workspace2Gain9Sum8input lTo Workspace6CxQcl lTo 21/MSum1GainB1/s1/sIntegratorIntegrator1XcQcr lTo Workspace5Xc lTo Workspace3Gain1Xv Step CommandMechatronicsIntroductionELECTROHYDRAULIC VALVE-CONTROLLED SERVOMECHANISM (LINEAR)K. Craig65
Take the Laplace Transform of these linear equations andderive six useful transfer functions relating the two inputs, xvand fU, to the three outputs, pcl, pcr, and xC.LMV s M cKMM CKMMMC AMMN0BxplBplxpMechatronicsIntroduction Cph K plCx V0s M B K pl C pcCx M BAphOPPPPPPPQA psCxA psCxMs2 BsLMpMMpxNclcrCOP LMx OPPP MMxf PPQ N QvvUK. Craig66
af FGHxCs xvOne of these transfer functions is:K where2C x A pc2A 2p B C p 2K plcKs2 2ζss 2 1ωn ωnhM B 2A 2p B C p 2 K plωn IJKhMV0FG 2M M IJ K FG M M IJ CH V K H V KM M2A BcC 2 K hVB ζ BBplp02B02pppl0MechatronicsIntroductionK. Craig67
Introduction K. Craig 15 Mechatronics draws heavily on the concepts of control systems only because they provide a coherent framework for system analysis. Controls are an integral component to any mechatronic design and not an afterthought add-on. However, open-loop and feedforward contro
New York Buffalo 14210 New York Buffalo 14211 New York Buffalo 14212 New York Buffalo 14215 New York Buffalo 14217 New York Buffalo 14218 New York Buffalo 14222 New York Buffalo 14227 New York Burlington Flats 13315 New York Calcium 13616 New York Canajoharie 13317 New York Canaseraga 14822 New York Candor 13743 New York Cape Vincent 13618 New York Carthage 13619 New York Castleton 12033 New .
Chapter 1 - Introduction to Mechatronics Questions 1.1 What is mechatronics? Mechatronics is the field of study concerned with the design, selection, analysis and control of systems that combine mechanical elements with electronic components as well as computers and/or microcontrollers. Mechatronics topics involve elements from
A multi-disciplinary mechatronics (and material handling systems) course was create d that allows students to learn and experience mechatronics engineering within the context of material handling systems. As shown in Figure 1, mechatronics incorporates aspect s from different engine ering fields such that product teams are
Mechatronics is also known as a way to achieve an optimal design solution for an electromechanical product. Key mechatronics ideas are developed during the . You can achieve this by simply making digital test and simulation an integral part of the digital design phase. As mechatronics systems become more complex, the challenges associated .
N Earth Science Reference Tables — 2001 Edition 3 Generalized Bedrock Geology of New York State modified from GEOLOGICAL SURVEY NEW YORK STATE MUSEUM 1989 N i a g a r R i v e r GEOLOGICAL PERIODS AND ERAS IN NEW YORK CRETACEOUS, TERTIARY, PLEISTOCENE (Epoch) weakly consolidated to unconsolidated gravels, sands, and clays File Size: 960KBPage Count: 15Explore furtherEarth Science Reference Tables (ESRT) New York State .www.nysmigrant.orgNew York State Science Reference Tables (Refrence Tables)newyorkscienceteacher.comEarth Science - New York Regents January 2006 Exam .www.syvum.comEarth Science - New York Regents January 2006 Exam .www.syvum.comEarth Science Textbook Chapter PDFs - Boiling Springs High .smsdhs.ss13.sharpschool.comRecommended to you b
92nd Senate approved Courses Scheme & Syllabus for BE (Mechatronics) 2017 B.E. (Mechatronics) 2017 –Course Scheme and Syllabus (1st - 4th Year) SEMESTER – I (GROUP-A) SR. NO. COURSE NO. TITLE L T P CR 1 UPH004 AP
Sector Masonr Certi cate Massage Therap Mechanical Engineering Technology Mechatronics I Mechatronics II Mechatronics Technolog Medical Assistant eM dac il CaceelMil drac l Laboar tenohTc or ol g Me dac il Scbi re Sort oceassipiti
design, and simulation, virtual instrumentation, rapid control prototyping, hardware-in-the-loop simulation, PC-based data acquisition and control . Elements of Mechatronics:- Typical knowledgebase for optimal design and operation of mechatronic systems comprises of: – Dynamic system modelling and analysis.Cited by: 7Publish Year: 2013Author: N.
