Introduction to Mechatronics

(cont.)

Lecture 2

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 1.5.5: Sequential controllers
• Situation – switched on and off at particular
preset times
• After Step 1 completes, Step 2 starts. After Step
2 completes, starts Step 3, etc.
• Sequential control – when control is done in such
that actions are ordered in a time- or event-
driven sequence
• By electric circuit with sets of relays or cam-
operated switches
• Now – hard-wires circuit is replaced with
microprocessor control
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• As an illustration – domestic washing
machine
• Operations must be in correct sequence:
1.Pre-wash cycle
2.Main wash cycle
3.Rinse cycle
4.Spin cycle

• Discuss in class for each cycle

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 Examples of mechatronics
systems
• Domestic appliances – fridge, freezers,
microwave ovens, washing machines,
vacuum cleaners, digital cameras, videos,
DVD player, camcorder, etc.

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 iRobot® Roomba® Scheduler Vacuuming Robot

Our top-of-the-line vacuuming robot features a built-in

scheduling system that adds ultimate convenience.
Program up to seven cleaning times to clean
automatically as often as you like--even when you're
out. Includes filters, brushes, Cleaning Tool and 2
Scheduling Virtual Walls.

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 iRobot® Scooba™ Floor Washing Robot

The first floor washing robot for the home that preps,
washes, scrubs and dries your floor. Uses fresh Clorox®
Scooba™ cleaning solution from start to finish, leaving
floors clean, dry and ready to walk on. Safe to use on all
sealed hardwood, tile and linoleum flooring.

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• Domestic systems – air conditioning
units, security systems, automatic gate
control

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 Iris recognition

Hand recognition Voice recognition

Finger print
DNA
Keystroke recognition
Face recognition
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Signature Lecture 2
 • Office equipment – laser printers,
liquid crystal display (LCD), scanners,
photocopier, fax machines, computer
peripherals

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• Retail equipment – automatic labeling
system, bar coding machines,

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• Banking system – cash registers,
automatic teller machine

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• Manufacturing equipment – NC tools,
pick-and-place robot, AGV, robotic
systems

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• Aviation system – cockpit controls and
instrumentation, landing gear systems

• Latest – unguided aerial vehicle (UAV) with

micro turbine
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 Airbus 380- Europe Boeing 787 Dreamliner- USA
Size 800 passengers double 25% fuel saving

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• Automotive:
• - braking system, ABS
• - security system, door lock
• - driverless
• -

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• Military – bomb disposal unit,
surveillance system, vehicle
• Hospital facilities for casualties

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• Agriculture
• – wireless monitoring system
• - precision agriculture

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 Benefits (1)
• More features
A mechanical design - only one function
E.g. using PIC microcontroller -
expanded features and functionality
Flexibility of adding features - LCD
displays, LEDs, motors,

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 Benefits (2)
• More user friendly
Further improvement leads more user-
friendly product
E.g. in automotive system - power
windows, power door locks, keyless
entry, and numerous other conveniences

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Mercedes S-Class

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 Benefits (3)
• Precision control
 Purely mechanical solutions are not as
efficient
 Cruise control in an automobile - allows for
precise control
 A microcontroller based - controls many
different variables (i.e. velocity, acceleration,
cumulative changes in velocity) to give the car
a smooth acceleration to the desired speed as
well as maintaining a constant velocity over
varying load conditions.
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 Benefits (4)
• More efficient
 More efficiency by adding intelligence to the
design
 Microcontroller can make better use of the
energy available by offering the precision
control
 Pulse Width Modulation (PWM) can be used
instead of resistive elements to vary the
voltage and current to a load, thereby
increasing the efficiency of the system.
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 Benefits (5)
• Lower cost
 In some cases, a mechatronics system costs
less than the alternative mechanical solution
 A complex mechanical solution is simplified
using a microcontroller-based approach
 Design time, product size, and reliability can
all be improved
 These factors impact the cost over the
lifetime of a product.

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 Benefits (6)
• Flexible design
 The specifications of a product can change
during the course of its design
 Any software controlled parameters can be
changed quickly without the need for a
product redesign
 This flexibility also allows the same hardware
to be used in different products
 The software is simply changed to meet the
needs of each product.
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 Benefits (7)
• Increased reliability
 Mechanical designs - prone to wear and tear
over time e.g. mechanical odometer in car
 Consists of a flexible cable running from the
transmission to the odometer gage –
unreliable, prone to failure
 Mechatronic design - an optical encoder and
digital display, which increases system
reliability.

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Old mechanical
odometer

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 Benefits (8)
• Smaller size
• Motor drive circuits - over-sized drive stages
to handle in-rush current
• Can be reduced by implementing soft-startup
using a microcontroller.

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 iphone by Apple

Blackberry PDA phone

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 Benefits (9)
• Safer
• Adding intelligence - system is safe
• E.g. Automatic shutdown to a coffee pot or
sense when a system is overheating
• Safety checks added to a system with
microcontroller controlling the system.

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 Automatic shut off
coffee pot

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 Exercises
• Definition of “Mechatronics System”
• Examples of applications
• Benefits and comparisons of mechatronic
system with mechanical system or
electromechanical system by giving a
practical example
• What is sequential controller and give
examples
• Explain sequential control in a dishwater
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 End of Lecture 2

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Lecture 2