MECHATRONICS

DATA PRESENTATION SYSTEMS

PUSHPARAJ MANI PATHAK

MECHANICAL & INDUSTRIAL ENGINEEING, IIT ROORKEE

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 Mechatronic system components
ACTUATORS SENSORS
▪ Solenoids, voice coils ▪switches
INPUT SIGNAL
▪ DC motors ▪Potentiometer, Thermocouple CONDITIONING AND
▪ Stepper motors ▪Photoelectrics, Accelerometer INTERFACING
▪ Servo motors ▪Digital encoder ▪ Discrete circuits ▪ Filters
▪Hydraulics, Pneumatics ▪Strain gauge, MEMs ▪ Amplifiers ▪ A/D, D/D

OUTPUT SIGNAL
DIGITAL CONTROL ARCHITECTURES
GRAPHICAL CONDITIONING &
DISPLAYS ▪Logic circuits ▪Control algorithms
INTERFACING
▪LEDs, LCD, CRT ▪Microcontroller ▪communication
▪D/A, D/D ▪Power transistors
▪Digital display ▪Sequencing & Timing ▪SBC, PLC
▪Amplifiers ▪Power op amps
▪Logic & Arithmetic ▪A/D, D/D
▪PWM

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Introduction

• Measurement systems consist of three elements: sensor,

signal conditioner and display or data presentation element.
• Elements that can be used for the presentation of data, can
be classified into two groups: indicators and recorders.
• Indicators give an instant visual indication of the sensed
variable.
• Recorders record the output signal over a period of time and
give a permanent record.

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Loading
• A general point that has to be taken account of when putting
together any measurement system is loading.
• It is the effect of connecting a load across the o/p terminal of any
element of a measurement device.
• Example : When a voltmeter is connected across a resistor then we
effectively have put two resistances in parallel, and if the resistance
of the voltmeter is not considerably higher than that of the resistor
the current through the resistor is markedly changed and thus the
voltage measured.

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Measurement system loading

• Loading can also occur within a

measurement system 𝑉𝑠 𝐺𝑉𝑖𝑛
𝑅𝑖𝑛 𝑅𝑑 𝑉𝑑
• For example, we have a
𝑅𝑠
measurement system consisting of 𝑅𝑜𝑢𝑡

three elements a sensor, an amplifier

and a display element Sensor Amplifier Display
𝑉𝑠 𝑅𝑖𝑛 𝐺𝑉𝑖𝑛 𝑅𝑑 𝐺𝑉𝑠 𝑅𝑖𝑛 𝑅𝑑 𝐺𝑉𝑠
𝑉𝑖𝑛 = 𝑉𝑑 = = =
𝑅𝑠 + 𝑅𝑖𝑛 𝑅𝑜𝑢𝑡 + 𝑅𝑑 (𝑅𝑜𝑢𝑡 + 𝑅𝑑 )(𝑅𝑠 + 𝑅𝑖𝑛 ) (𝑅𝑜𝑢𝑡 + 1)( 𝑅𝑠 + 1)
𝑅𝑑 𝑅𝑖𝑛
• We require 𝑅𝑜𝑢𝑡 >> 𝑅𝑑 and 𝑅𝑠 >> 𝑅𝑖𝑛 to neglect loading effect.
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Data presentation elements
• Analogue and digital meters: The moving-coil meter is an analogue
indicator with overall accuracy of the order of ±0.1 to ±5%. The loading
problem can be there because of low resistance.
• The digital voltmeter gives its reading in the form of a sequence of digits
with accuracies as high as ±0.005%.
• A digital voltmeter has typically a sample rate of 3 per second and an input
impedance of 100 MV. The principle of digital voltmeter is :-
Analogue
input Sample
ADC Counter
and hold
• Cathode-ray oscilloscope: The cathode-ray oscilloscope is a
voltage-measuring instrument, which is capable of displaying
extremely high-frequency signals.
• Double-beam oscilloscopes has two separate traces to be
observed simultaneously on the screen.
• In storage oscilloscopes the trace to remain on the screen
after the i/p signal has ceased.
• Digital storage oscilloscopes digitise the i/p signal and store
the digital signal in a memory
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Visual display unit

• Visual display unit is used to present the output data. X flyback

• There are two types of displays:-

• Non-interlaced display: The image is built up by varying the
intensity of the spot on the screen as each line is scanned.
• Interlaced display: Two scans down the screen are used to Electron beam
Y flyback
trace a complete picture. By this, the effect of flicker is
reduced. On the first scan all the odd-numbered lines are
traced out and on the second the even-numbered lines are
traced.
• Character build-up by selective lighting: The screen of the VDU is
coated with a large number of phosphor dots, these dots forming
the pixels.
• A text character or a diagram is produced on the screen by
selectively lighting these dots, for example-
1
2
3 Lines of the
4
5
scan down
6 the screen
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7 by 5 matrix of pixels
• The input data to the VDU is usually in digital ASCII (American
Standard Code for Information Interchange) format.
• This is a 7-bit code and so can be used to represent 27 = 128
characters.
• It enables all the standard keyboard characters along with
some control functions such as RETURN.

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 Character ASCII Character ASCII Character ASCII
A 1000001 N 1001110 0 0110000
ASCII(American
B 1000010 O 1001111 1 0110001
Standard Code for C 1000011 P 1010000 2 0110010
Information D 1000100 Q 1010001 3 0110011
Interchange) code E 1000101 R 1010010 4 0110100
F 1000110 S 1010011 5 0110101
G 1000111 T 1010100 6 0110110
H 1001000 U 1010101 7 0110111
I 1001001 V 1010110 8 0111000
J 1001010 W 1010111 9 0111001
K 1001011 X 1011000
L 1001100 Y 1011001
M 1001101 Z 1011010
Printers

• There are a number of versions of printers: the dot matrix printer,

the ink/bubble jet printer and the laser printer.
• A dot matrix printer has a print head which consists of either 9 or
24 pins in a vertical line as in figure. Return spring Print needle
• Each pin is controlled by an Hammer Guide tube
electromagnet
Inked ribbon
Overrun spring
Paper

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• The ink jet printer uses a conductive ink
which is forced through a small nozzle to
produce a jet of very small drops of ink of
constant diameter at a constant frequency.
• A piezoelectric crystal is used to form fine Ink drops Piezoelectric
drops pulse which vibrates at a frequency crystal

of about 100 kHz.

Ink
• Bubble jet printer uses a small heater in the print head with
vaporized ink in a capillary tube, so producing gas bubbles which
push out drops of ink.
• Two types of ejection: (a)Charging electrode (b)Vertical stack of
nozzles.

Heater Vapour
bubble
Ink
Heater not on Heater on and vapour Vapour bubble bursts
bubble being produced and ejects ink drop
• Basic elements of a laser printer:
– Drum coated with photosensitive material (selenium): in the dark it has high
resistance and become charged as it passes close to the charged wire.
– Laser: A light beam is used to scan
– Eight-sided mirror Charging wire
– Toner Rotating mirror Selenium-coated drum
Fusing roller to
– Corona wire
fix toner on paper
– Hot Fusing roller Laser
• Currently able to produce 1200 dots
Toner
per inch. Paper
Corona wire Toner Transferred to paper
Magnetic recording

• Floppy disks and hard disks of computers works on the concept of

magnetic recording for data storage.
• Working Principle:
– A recording head, which responds to the i/p signal, produces
corresponding magnetic patterns on a thin layer of magnetic material
– A read head gives an o/p by converting the magnetic patterns on the
magnetic material to electrical signals.
• The systems also require a transport system that moves the magnetic
material in a controlled way under the heads.
• Basic components are: (i) thin magnetic material (ii) recording head (iii)
read head and (iv) a transport system
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• Working of recording head:
• When electrical signals are fed to the coil which is
recording head
wound round the core, magnetic flux is produced
in the core. Ferromagnetic
Magnetising current
In the write coil
• The proximity of the magnetic coated plastic to material

the non-magnetic gap means that the magnetic Magnetic

circuit
flux readily follows a path through the core and Magnetic lines
of flux Air gap Magnetic
that part of the magnetic coating in the region of coating

the gap.
• Thus the part of magnetic coating becomes Plastic base
permanently magnetised. Thus magnetic record
is produced of the electrical i/p signal.
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• Working of recording head: replay(read) head
• If a piece of magnetised coating
Magnetising current
bridges the nonmagnetised gap, then Ferromagnetic
material
In read coil

magnetic flux is induced in the core. Magnetic

• Flux changes in the core induce circuit
Magnetic lines
e.m.f.s in the coil that is wound round of flux Air gap Magnetic
coating
the core.
• So, the o/p from the coil is an
Local areas of Plastic base
electrical signal which is related to magnetism

the magnetic record on the coating.

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• Magnetic recording codes: Recording of signals
in digital recording involves coded combination
of bits.
• Done with magnetism saturation in forward
(represented 0) and reverse direction
(represented as 1). Bit cells

• The bit cells on the magnetic surface might

then appear in the form shown in Figure:-
• However, we must read each cell and thus
accurate timing points are needed in order to Timing points for
indicate clearly when sampling should take sampling the cells
place.
• If an external clock is used then in sampling a small mismatch
between the timing signals and the rate at which the
magnetic surface is moving under the read head can result in
perhaps a cell being missed or even read twice.
• Synchronisation is needed.
• Such synchronisation is achieved by using the bit cells
themselves to generate the signals for taking samples

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• The methods commonly used are as:
• Non-return to zero(NRZ)
– With this system the flux is recorded on the tape such that no change in flux
represents 0 and a change in flux 1. However, it is, not self-clocking.
The cells

Positive
Negative
saturation

0 1 1 1 0
• Phase encoding(PE)
– In this cell is split into two half, one having positive saturation flux and the
other is negative saturation flux.
– “0” means first half-bit is positive followed by the negative saturation flux.
– “1” means first half-bit is negative followed The cells

by the positive saturation flux.

– The advantage of being self clocking.
Bits 0 0 1 0 1

Positive
Negative
saturation
• Frequency modulation(FM)
– Self-clocking and similar to phase encoding but there is always a flux direction
reversal at the beginning of each cell.
– For “0” bit there is no additional flux reversal during the cell.
– But for “1” there is an additional flux reversal during the cell.
The cells

Bits 1 1 0 0

Positive
Negative
saturation
• Magnetic discs:
– The digital data is stored on the disk surface along concentric circles(tracks), a
single disk having many such tracks as shown in figure.
– Single read/write head is used for each disk surface.
– Large amounts of data can be stored on such Central hole Sector

Arms extend to move

assemblies of disks; as hundreds of Read/write heads Heads over tracks

gigabytes are now common. Disks

– The disk is divided into sectors.

– A hard disk might have about
2000 tracks per surface & 32 sectors. Spindle rotates at high speed Tracks
Displays
• Many display systems use light indicators to indicate on/off status
or give alphanumeric displays(alphabet and numbers).
• Figure(a) shows the seven segment display and a 4-bit binary code
input can be used to generate inputs to switch on the various
segments as in Table in next slide.
• Figure(b) shows another format involves a 7 by 5 dot matrix.
a
f b
g

e c

d (a) (b)
4-bit binary code input
Binary input Segments activated Number displayed
a b c d e f g
0 0 0 0 1 1 1 1 1 1 0 0
0 0 0 1 0 1 1 0 0 0 0 1
0 0 1 0 1 1 0 1 1 0 1 2
0 0 1 1 1 1 1 1 0 0 1 3
0 1 0 0 0 1 1 0 0 1 1 4
0 1 0 1 1 0 1 1 0 1 1 5
0 1 1 0 0 0 1 1 1 1 1 6
0 1 1 1 1 1 1 0 0 0 0 7
1 0 0 0 1 1 1 1 1 1 1 8
1 0 0 1 1 1 1 0 0 1 1 9

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• The light indicators for such displays might be neon lamps, light-
emitting diodes (LEDs) or liquid crystal displays(LCDs).
• Light-emitting diodes(LED)
– LEDs are cheap and require low voltages and low currents.
– Figure shows the basic form of a LED, reflectors are used to direct the light
emitted.
– A standard resistor of 150Ω is used in series.
– LEDs are available as single light displays, seven- and
sixteen-segment alphanumeric displays, in dot matrix Reflector

format and bar graph form.

LED
chip
• Figure(a) shows the common anode connection arrangement of
seven LEDs, to give the seven segments of a display of the form
shown earlier. Elements are going active by input going low.
• An alternative arrangement is +5V

the common cathode shown

Driver

Driver
in figure(b). Elements are going
active by input going high.

(a) Current-limiting resistors (b) Current-limiting resistors

• Often the output from the driver is not in the normal binary form
but in Binary-Coded Decimal (BCD), input to encoder.
Resistors to limit current
• The driver output has then to be decoded
into the required format for the display. BCD
input
• The 7447 is a commonly used decoder
7447 Display
for driving displays shown in Figure.

220 Ω array
 Column connectors
6 4 9 12 11

• Dot matrix display: Pin

numbers
– basic form used for a 5 by 7 dot matrix 7

LED display shown in figure.

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– Connections are in such a way that, to

Row connectors
turn on a particular LED, power is 5

applied to its column and its row is 10

grounded.
3
– This display enables all the ASCII
characters to be produced. 2

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• Liquid crystal displays(LCDs):
– Has no light of their own but rely on reflected light or transmitted light.
– The material is compounded with long rod-shaped molecules which is
sandwiched between two sheets of polymer containing microscopic grooves.
– The arrangement of polymer sheets and Direction of
polariser
Direction of
polariser

molecules are as shown in figure, and

molecules align as light transmit or not. Rotation of Molecules
molecules Voltage aligned
– Have different segment display as LEDs. applied

– An AC electric field of about 3 to 12 V is Direction of Direction of

polariser polariser
used to turn on any segment. Light transmitted No light transmitted
Data acquisition systems

• Data acquisition (DAQ) tends to be frequently used for systems as

ADC, processing, analysis and DAC to display by computer.
• Computer with plug-in boards:
– The basic elements of DAQ board and a DAQ system using plug-in boards with
a computer for the DAQ hardware are as shown in figure.
Digital inputs/outputs Digital I/O interface Cabling

ADC Inputs Computer

Analogue outputs
PC bus From Board
interface sensors
Analogue inputs DAC

Signal conditioning
Connection to computer bus
• Data loggers: Figure shows the basic elements of a data logger.
– Data logger term is used with DAQ system which allows it to work away from
computer, as computer send the program, will store in memory card or
inserted in logger. Digital Digital Sampled digital signal Display
multiplex Program input
inputs
er
Printer
Ampli

Microprocessor
Analogue ADC
inputs fier
Analogue Sampled Floppy
disk
multiplex Analogue Gain control for amplifier
er signal
Other
system
Thermocouple
inputs Cold junction
Compensation Control signals for multiplexer
And linearisation Remote control
References

• D.G. Alciatore and Michael B. Histand, Introduction to

Mechatronics, Tata Mc Graw Hill, 2012.
• W. Bolton, Mechatronics: Electronic Control Systems in
Mechanical and Electrical Engineering (6th Edition), Pearson,
2015
• R. Merzouki, A. K. Samantaray, P. M. Pathak, B. Ould
Bouamama, Intelligent Mechatronic Systems: Modeling,
Control and Diagnosis, ISBN 978-1-4471-4627-8, 2013,
Springer, London
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Thank You

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