Mechatronics for Complex Products and Systems: Project-Based Design Approaches for Robots, Cyber-Physical Systems, Digital Twins, and Other Emerging T (Hardcover)

· 제목 : Mechatronics for Complex Products and Systems: Project-Based Design Approaches for Robots, Cyber-Physical Systems, Digital Twins, and Other Emerging T (Hardcover) 
· 분류 : 외국도서 > 기술공학 > 기술공학 > 기계공학
· ISBN : 9781394209590
· 쪽수 : 704쪽
· 출판일 : 2025-03-11

Preface xvii?

About the Companion Website xix?

1 Introduction 1?

1.1 Introduction 1?

1.2 Growing Complexity of Engineering Designs 1?

1.2.1 Products 3?

1.2.2 Manufacturing Technologies 5?

1.2.3 Business Environments 6?

1.2.4 Engineering Design 6?

1.3 Integrated Engineering Design 7?

1.4 Mechatronics for Multi- or Interdisciplinary Designs 9?

1.5 Mechatronic Design Examples 11?

1.5.1 Development of Football Robot Team 11?

1.5.2 Reusing Robots to Unload Heat Sinks Automatically 12?

1.5.3 Rebuilding Rail Test Machine 14?

1.5.4 Testing of Electric Hardness 16?

1.5.5 Valve Needle Assembly Station 16?

1.5.6 Ejecting Engine Fans from Performance Tester 18?

1.5.7 Demonstrator of Automated Spacer Removals in Truck Assembly Line 19?

1.6 Group Technologies (GTs) for Mechatronic Designs 21?

1.7 Mechatronics and Mechatronic Functional Modules (MFMs) 22?

1.8 Mechatronic Design Methodologies 24?

1.9 Organization of the Book 25?

1.10 Summary 26?

Problems 28?

References 28?

2 Mechatronic Designs ? Innovations, Theories, and Methods 31?

2.1 Innovative Thinking 31?

2.2 Theory of Inventive Problem-Solving (TRIZ) as Tactic Methodology 34?

2.3 Innovations of Mechatronic Systems 39?

2.3.1 Modularization 39?

2.3.2 Integrability 41?

2.3.3 Coupled Discipline Modeling 42?

2.3.4 Concurrent Design 43?

2.3.5 Decentralized Controls 45?

2.3.6 Event-Driven Automation 46?

2.3.7 Adaptability and Re-configurability 46?

2.3.8 Predictability 48?

2.3.9 System Resilience 49?

2.3.10 Continuous Adaptation (CA) 50?

2.4 Architecture of Mechatronic Systems 51?

2.5 Design of Mechatronic Systems 54?

2.6 Mechatronic Design Methodologies 57?

2.6.1 System Modeling Language (SysML) 58?

2.6.2 Model-Based System Engineering (MBSE) 59?

2.6.3 Axiomatic Design Theory (ADT) 61?

2.6.4 Concurrent Design Optimization (CDO) 63?

2.6.5 Virtual Verification and Validation (VVV) 65?

2.7 Project-Based Mechatronic Design (PBMD) 65?

2.7.1 Existing Assistive Evacuating Technologies 66?

2.7.2 Proposed Assistive Evacuation Device 69?

2.7.3 Main Functional Requirements from Use Cases 69?

2.7.4 Project-Based Mechatronic Designs 72?

2.7.4.1 Folding and Unfolding Mechanism 72?

2.7.4.2 Reaction Forces on Tracks for Structural Elements 72?

2.7.4.3 Motor for Lifting Mechanism 74?

2.7.4.4 Control of Evacuation Device 76?

2.7.4.5 PBMD in Mechatronic Design 77?

2.8 Summary 77?

Problems 78?

References 81?

3 Power Generation, Storage, Supply and Transmission 87?

3.1 Introduction 87?

3.2 Energy, Work, and Power 87?

3.3 Energy Source 90?

3.4 Driving Components ? Functional Requirements (FRs) 91?

3.5 Power Transmission 93?

3.5.1 Functional Requirements (FRs) 94?

3.5.2 Machine Elements for Power Transmission 95?

3.5.3 Types of Machine Elements 95?

3.5.4 Procedure in Designing or Selecting Machine Elements 95?

3.5.5 Machine Elements in Mechatronic Systems 98?

3.5.6 Mechanical Power Transmission Examples 98?

3.6 Power Generation 100?

3.6.1 Internal Combustion (IC) Generator 102?

3.6.2 Solar Power Generator 103?

3.6.3 Wind Turbine Generator 105?

3.6.4 Geothermal Generator 105?

3.6.5 Other Generators 106?

3.6.6 Selection of Power Source for Mechatronic System 107?

3.7 Requirements of Power Supplies and Storages 109?

3.7.1 Requirements of Power Supplies 109?

3.7.2 Classification of Energy Storage Systems 111?

3.7.3 Flywheel Energy Storage System (FESS) 112?

3.7.4 Pumped Hydro Energy Storage (PHES) 114?

3.7.5 Compressed Air Energy Storage (CAES) 115?

3.7.6 Gravity Energy Storage (GES) 115?

3.7.7 Electrical Energy Storage (EES) 116?

3.7.8 Thermal Energy Storage (TES) 118?

3.7.9 Comparison of Different Energy Storages 120?

3.8 Selection of Power Supplies 122?

3.9 Summary 122?

Problems 122?

References 123?

4 Actuating Systems 127?

4.1 Introduction 127?

4.2 Functional Requirements (FRs) 129?

4.3 Design Variables (DVs) 132?

4.4 Basics of Energy Conversion 135?

4.4.1 Mechanical Energy Conversion 135?

4.4.2 Electromechanical Energy Conversion 140?

4.4.3 Thermomechanical Energy Conversion 148?

4.4.4 Electro-stimulated Materials 149?

4.4.5 Magneto-rheological Fluid Energy Conversion 151?

4.4.6 Nano-level Energy Conversion 152?

4.5 Main Components 153?

4.6 Valve and Electric Actuators 154?

4.6.1 Valve Actuators 155?

4.6.2 Electric Actuators and Motors 157?

4.6.3 Selection of Motors 160?

4.7 Summary 161?

Problems 161?

References 162?

5 Sensing Systems 165?

5.1 Introduction 165?

5.2 Sensors, Actuators, and Transducers 169?

5.3 Classifications 170?

5.3.1 Types of Quantities to be Measured 170?

5.3.2 Requirements Related to Measurement 171?

5.3.3 Specifications Related to Measurement 171?

5.4 Working Principles 173?

5.4.1 Hooke’s Law 173?

5.4.2 Ohm’s Law 175?

5.4.3 Photoconductivity 176?

5.4.4 Hall Effect 177?

5.4.5 Faraday’s Law of Induction 178?

5.4.6 Curie?Weiss Law 179?

5.4.7 Time of Flight (ToF) 181?

5.5 Types of Physical Quantities 182?

5.5.1 Displacement, Position, and Proximity 182?

5.5.2 Velocity 184?

5.5.3 Acceleration 186?

5.5.4 Force 188?

5.5.4.1 Direct Contact Sensors 188?

5.5.4.2 Piezoelectric Sensors 189?

5.5.4.3 Conventional Force Sensors 190?

5.5.5 Pressure 191?

5.5.6 Contacts 193?

5.5.7 Temperature 195?

5.5.8 Chemical Particles 197?

5.6 Optical Encoders 199?

5.6.1 Resolutions 199?

5.6.2 Decoding 202?

5.7 Sensors in MEMS 203?

5.8 Summary 205?

Problems 205?

References 207?

6 Bridging Physical and Cyber Systems 209?

6.1 Introduction 209?

6.2 Characteristics of Signals 209?

6.2.1 Analog Signals 209?

6.2.2 Digital Signals 211?

6.3 Conversions of Digital and Analog Signals 212?

6.4 Basic Electronic Elements for DSP 213?

6.4.1 Operational Amplifiers (Op-Amps) 213?

6.4.2 Comparators 216?

6.5 Digitization 217?

6.5.1 Sampling 217?

6.5.2 Quantizing 220?

6.5.3 Sampling and Quantizing in Analog-to-Digital Conversion (ADC) 221?

6.6 Analog-to-Digital Conversion (ADC) 225?

6.6.1 Integrating ADC 226?

6.6.2 Flash Converter 227?

6.6.3 Successive Approximation 228?

6.7 Holding Process in Sampling 236?

6.8 Digital-to-Analog Conversion (DAC) 237?

6.8.1 Weighted Resistor DAC 237?

6.8.2 R-2R Ladder DAC 239?

6.8.3 Quantization Noise 240?

6.9 Summary 241?

Problems 241?

References 242?

7 Signal Conditioning and Processing 245?

7.1 Introduction 245?

7.2 Basic Concepts in Electronic Circuits 245?

7.2.1 Charge, Current, Voltage, and Power 245?

7.2.2 Resistor, Capacitor, and Inductor 248?

7.2.3 Input Loading and Output Loading 250?

7.2.4 Basic Types of Signals 251?

7.2.5 Main Parameters of Periodical Signals 254?

7.2.6 Amplitude and Phase Changes 254?

7.2.7 Wheatstone Bridges 257?

7.3 Signal Cleaning 259?

7.4 Signal Isolation 260?

7.4.1 Optical Isolation by Light-Emitting Diodes (LEDs) 260?

7.4.2 Capacitive Isolation by Capacitor 261?

7.4.3 Inductive Isolation by Inductor 261?

7.5 Signal Transmission 262?

7.5.1 Switches 262?

7.5.2 Multiplexer 262?

7.5.3 Protection from High Voltage and Current 264?

7.5.4 Modulation/Demodulation 265?

7.6 Signal Conditioning 266?

7.6.1 Amplification 266?

7.6.2 Attenuation 271?

7.6.3 Filtering 271?

7.6.4 Linearization 275?

7.6.5 Conditioning Digital Signals 275?

7.6.6 Signal Clipping 277?

7.7 Signal Clamping 277?

7.8 Summary 278?

Problems 278?

References 279?

8 System Controls 281?

8.1 Basics of Control Systems 281?

8.1.1 Complexity of Control Problem 281?

8.1.2 Types of Control Problems 283?

8.1.3 Architecture of Control Systems 284?

8.1.4 Design of Control Systems 285?

8.2 Control Theory 286?

8.2.1 Open-Loop Control Versus Closed-Loop Control 286?

8.2.2 Process Control Versus Motion Control 287?

8.2.3 Steady Response Versus Transient Response 288?

8.2.4 Transfer Functions 288?

8.2.5 Orders of Control Systems 292?

8.2.6 Stability Analysis 295?

8.2.7 Accuracy of Control Systems 299?

8.2.8 Classification of Control Systems 302?

8.2.9 Frequency Responses 303?

8.3 Proportional?Integral?Derivative (PID) Controls 305?

8.4 Analog and Digital Implementation of PID Controllers 307?

8.5 Advanced Controls 309?

8.6 Intelligent Controls 309?

8.6.1 Fuzzy Logic 310?

8.6.2 Artificial Neural Network (ANN) 310?

8.7 Design of Control System 312?

8.7.1 Microcontrollers 313?

8.7.2 Digital Signal Processing (DSP) 313?

8.7.3 Field Programmable Gate Arrays (FPGA) 315?

8.7.4 Microcomputers 316?

8.7.5 Programmable Logic Controller (PLC) 316?

8.8 Programming in PLC 318?

8.8.1 Data Structure and Flow 318?

8.8.2 Operating Cycle 319?

8.8.3 I/O Modules and Addresses 319?

8.8.4 Elements of Logic Control 322?

8.8.5 Ladder Logic Diagrams 325?

8.8.6 Timers and Counters 327?

8.8.7 Sequencers 328?

8.9 Summary 330?

Problems 331?

References 333?

9 Digital Twins (DT-I), Digital Triads (DT-II), and Internet of Digital Triads Things (IoDTT) 335?

9.1 Introduction 335?

9.2 Digital Twins (DT-I) 338?

9.3 Enabling Technologies 339?

9.3.1 Data Acquisition 339?

9.3.2 Modeling and Simulation 340?

9.3.3 Communication Technologies 340?

9.3.4 Cloud Technologies 340?

9.3.5 Big Data Analytics (BDA) 342?

9.4 From Digital to Physical Twins by Manufacturing 342?

9.5 DT-Is in Manufacturing 343?

9.5.1 System Digitization 347?

9.5.2 Interactions of Physical and Digital Worlds 348?

9.5.3 Historical Development of DT-I 349?

9.5.4 Communication and Integration 351?

9.5.5 System Architecture 353?

9.6 Limitations of DT-Is 354?

9.7 Advanced Attributes of Digital Entities in Manufacturing 355?

9.8 Concept of Digital Triad (DT-II) 356?

9.9 The Internet of Digital Triads Things (IoDTT) 360?

9.10 DT-Is and DT-IIs in Sustainable Mechatronic Systems 362?

9.10.1 Monitoring and Controlling 362?

9.10.2 Data-Driven Decision-Making 364?

9.10.3 Fault Detections 366?

9.10.4 Predication of Fatigue Life 368?

9.10.5 Virtual Verification and Validation (V and V) 370?

9.11 Summary 371?

Problems 371?

References 374?

10 Cyber-Physical Systems 379?

10.1 Introduction 379?

10.2 Characteristics of CPSs 382?

10.3 Basic Features of Cyber System of CPS 384?

10.3.1 Reactive Computation 385?

10.3.2 Parallel Computing 385?

10.3.3 Feedback Controls 385?

10.3.4 Realtime-Ness 385?

10.3.5 Dependability, Reliability, and Safety Assurance 386?

10.3.6 Biological Intelligence 387?

10.3.7 Hybrid Systems 387?

10.3.8 Embedded Computation 387?

10.3.9 Standards of Cyber Systems 387?

10.4 Design of CPSs 387?

10.5 Mathematical Modeling 388?

10.5.1 Modeling Continuous Dynamics 391?

10.5.2 Discrete Event Dynamic System (DEDS) 396?

10.5.3 Hybrid Modeling 398?

10.5.4 State Machines 400?

10.6 Development Standards 403?

10.7 Model-Based System Engineering (MBSE) 404?

10.7.1 Modeling in MBSE 404?

10.7.2 Design Stages in MBSE 405?

10.7.3 Acausality Modeling by Modelica 406?

10.7.4 Programming in Modelica 409?

10.7.5 Formal Semantics 412?

10.7.6 Verification and Validation (V&V) 414?

10.8 Summary 415?

Problems 416?

References 418?

11 Internet of Things 421?

11.1 Introduction 421?

11.1.1 IoT Concepts 422?

11.1.2 Smart Things 424?

11.1.3 Communication Protocols 425?

11.2 Characteristics of IoT-Enabled Systems 427?

11.3 Importance of IoT in Mechatronics 428?

11.4 Data Flows in IoT-Enabled Systems 431?

11.5 IoT-Enabled Capabilities 432?

11.5.1 Interactions 433?

11.5.2 Big Data Analytics (BDA) 435?

11.5.3 Digital Manufacturing (DM) 435?

11.6 Project-Based IoT-Enabled System Development 438?

11.6.1 Ubiquitous Sensing 439?

11.6.2 Fusing and Integrating Data from Heterogeneous Sources 439?

11.6.3 Methods of Coping with Big Data 440?

11.6.4 Surveillance and Data Visualization 441?

11.6.5 Workflow Composition 441?

11.6.6 Standardization of Specifications 444?

11.6.7 Data Acquisition, Classification, and Utilization 444?

11.7 Summary and Conclusion 445?

Problems 447?

References 447?

12 Robotics 451?

12.1 Introduction 451?

12.2 Classifications 454?

12.3 Basic Terminologies in Robotics 456?

12.3.1 Mechanical Structure 457?

12.3.2 Degrees of Freedom (DOF) 458?

12.3.3 Workspaces 462?

12.3.4 Modeling and Simulation 464?

12.3.5 Accuracy, Precision, and Calibration 464?

12.3.6 Other Specifications 465?

12.4 Kinematic Modeling 466?

12.4.1 Positions of Points, Links, and Bodies in 2D and 3D Space 466?

12.4.2 Motions of Particles, Links, and Bodies 468?

12.4.3 Vector-Loop Method for Motion Analysis of Plane Mechanism 473?

12.4.3.1 Kinematic Parameters and Variables 477?

12.4.3.2 Inverse Kinematics 477?

12.4.3.3 Forward Kinematics 478?

12.4.4 Denavit?Hartenberg (D?H) Notation 479?

12.4.5 Jacobian Matrix for Velocity Relations 481?

12.5 Dynamic Modeling 491?

12.5.1 Inertia and Moments of Inertia 491?

12.5.2 Newton?Euler Formulation 493?

12.5.3 Lagrangian Method 498?

12.6 Kinematic and Dynamics Modeling in Virtual Design 500?

12.6.1 Motion Simulation 502?

12.6.2 Model Preparation 502?

12.6.3 Creation of Simulation Model 504?

12.6.4 Define Motion Variables 504?

12.6.5 Setting Simulation Parameters 506?

12.6.6 Run Simulation and Visualize Motion 506?

12.6.7 Analyze Simulation Data 507?

12.6.8 Structural Simulation Using Motion Loads 508?

12.6.9 Summary on Kinematic and Dynamic Modeling 510?

12.7 Mobile Robots 511?

12.7.1 Three-Wheeled Robots 514?

12.7.2 Four-Wheeled Robots 515?

12.7.3 Unmanned Aerial Vehicles (UAVs) 516?

12.8 Robotic Programming 519?

12.9 Summary 521?

Problems 521?

References 524?

13 End-Effectors 527?

13.1 Introduction 527?

13.2 Grasping Theory 528?

13.2.1 Contacts on Object 528?

13.2.2 Motions and Forces 530?

13.2.3 Frictions 531?

13.2.4 Grasping Model 533?

13.2.5 Form Closure 534?

13.2.6 Force Closure 536?

13.2.7 Quality of Grasping 537?

13.3 Mechatronic Design of End-Effectors 537?

13.3.1 Mechanical and Actuating Components 538?

13.3.2 Sensing Components 541?

13.3.3 Control Components 542?

13.4 Evaluation of Grasping Performance 544?

13.5 Grasping Configurations 545?

13.6 Types of End-Effectors 546?

13.6.1 Types of Grippers 546?

13.6.2 Types of Processing Tools 548?

13.6.3 Multifunctional Tools 549?

13.6.3.1 Concepts 550?

13.6.3.2 Classification 550?

13.6.3.3 Advantages and Disadvantages 554?

13.6.3.4 Selection Principles 556?

13.6.3.5 Development Trends 556?

13.7 Main Factors in Designing an End-Effector 558?

13.8 Computer-Aided Design Tools for End-Effectors 560?

13.9 Summary 560?

Problems 560?

References 561?

14 Metaverses for Sustainability Mechatronic Systems 565?

14.1 Introduction 565?

14.2 FRs of Sustainable Mechatronic Systems 566?

14.2.1 Scalability, Accessibility, Security, Privacy, and Legal Issues 568?

14.2.2 First-Time-Right from Virtual to Physical World 568?

14.2.3 Ubiquitous Data and Computing 568?

14.2.4 Diagonalizability, Predictability, and Adaptability 569?

14.2.5 Human Intelligence for Uncertainty and Changes 570?

14.2.6 Data-Driven Decision-Making Supports 571?

14.3 Metaverse and Relevant Technologies 573?

14.3.1 Architecture or Framework 574?

14.3.2 Virtual Reality (VR), Augmented Reality (AR), Mixed Reality (MR), and Extended Reality (ER) 576?

14.3.3 Digital Twins (DTs), Cyber-Physical Systems 578?

14.3.4 Internet of Things (IoT) and Edge Computing 579?

14.3.5 Big Data Analytics (BDA) and Cloud Computing (CC) 581?

14.3.6 Blockchain Technologies (BCTs) 581?

14.3.7 Artificial Intelligence (AI) 583?

14.3.8 Human?Machine Interactions (HMI) 585?

14.3.9 Data-Driven Decision-Making Systems 586?

14.4 Metaverses for Sustainability 587?

14.4.1 Metaverses to Deal with Changes and Uncertainties 588?

14.4.2 Sustainable Manufacturing 590?

14.4.3 Framework of Metaverse Use Cases 590?

14.4.4 Metaverses for Remote Access 592?

14.5 Summary and Future Work 593?

Problems 593?

References 594?

15 Human Cyber-Physical Systems (HCPS) 603?

15.1 Introduction 603?

15.2 Humans’ Roles in CPS 605?

15.3 Enabling Technologies 608?

15.4 Human?Machine Interactions (HMI) 610?

15.4.1 Collaborative Robots 610?

15.4.2 Types of HMIs 612?

15.4.3 Collaborative Machines in Manufacturing 613?

15.4.4 Critical Requirements of Cobots 613?

15.4.5 Safety Assurance Mechanisms for Cobots 616?

15.4.5.1 Safety-Rated Monitored Stop (SRMS) 616?

15.4.5.2 Hand Guiding (HG) 617?

15.4.5.3 Speed and Separation Monitoring (SSM) 618?

15.4.5.4 Power and Force Limiting (PFL) 618?

15.4.6 Cobotic Systems 618?

15.4.7 End-Effectors of Cobots 620?

15.4.7.1 Affordable Force Monitoring 620?

15.4.7.2 Ergonomic Protection of Grippers 621?

15.4.8 Safety Assurance in HCPSs 622?

15.5 Example of Assistive Technologies 622?

15.5.1 Cobots in Healthcare 622?

15.5.2 Conceptual Design of Cobot 623?

15.5.3 Kinematic Model 624?

15.5.4 Motion for Arbitrary Explicit Trajectory 625?

15.5.5 Motions of Omniwheels 626?

15.5.6 Dynamic Control Model 626?

15.5.6.1 Analyses of Force on Omniwheels 627?

15.5.6.2 Analyses of Force on Cobot Platform 628?

15.5.6.3 Constraints to Maintain Contacts to Ground 629?

15.5.6.4 Strategies of Cobot Controls 630?

15.5.7 Simulation 631?

15.5.8 Summary of HCPS as Assistive Technologies 632?

15.6 Brain?Computer Interfaces (BCI) for Supervisory Controls 634?

15.6.1 Unmanned Aerial Vehicles (UAVs) 634?

15.6.2 UAV Controls 635?

15.6.3 BCI for Effective HMI 636?

15.6.4 Development of BCIs 638?

15.6.4.1 Brain Signals 639?

15.6.4.2 Data Acquisition 640?

15.6.4.3 Feature Classification and Detection 642?

15.6.5 BCI Development Platform 645?

15.7 Summary 648?

Problems 649?

References 649?

Index 657