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 C L ASS D ISC U SSION IT E M S

1.1 Household Mechatronic Systems 4 3.9 Common Usage of Semiconductor

Components 115
2.1 Proper Car Jump Start 14
2.2 Hydraulic Analogies of Electrical 4.1 Musical Harmonics 130
Sources 14 4.2 Measuring a Square Wave with a Limited
2.3 Hydraulic Analogy of an Electrical Resistor 17 Bandwidth System 132
2.4 Hydraulic Analogy of an Electrical 4.3 Audio Speaker Frequency Response 133
Capacitor 21 4.4 Analytical Attenuation 137
2.5 Hydraulic Analogy of an Electrical 4.5 Assumptions for a Zero-Order
Inductor 22 Potentiometer 139
2.6 Improper Application of a Voltage Divider 26 4.6 Thermal Analogy of an Electrical RC
2.7 Reasons for AC 39 Circuit 142
2.8 Transmission Line Losses 45 4.7 Spring-Mass-Damper System in Space 147
2.9 International AC 46 4.8 Good Measurement System Response 148
2.10 AC Line Waveform 46 4.9 Slinky Frequency Response 152
2.11 DC Transformer 47 4.10 Suspension Design Results 156
2.12 Audio Stereo Amplifier Impedances 49 4.11 Initial Condition Analogy 158
2.13 Common Usage of Electrical 4.12 Measurement System Physical
Components 49 Characteristics 161
2.14 Automotive Circuits 62 5.1 Kitchen Sink in an Op Amp Circuit 176
2.15 Safe Grounding 65 5.2 Positive Feedback 178
2.16 Electric Drill Bathtub Experience 65 5.3 Example of Positive Feedback 179
2.17 Dangerous EKG 66 5.4 Voltage Divider with No Follower 179
2.18 High-Voltage Measurement Pose 66 5.5 Integrator Behavior 185
2.19 Lightning Storm Pose 67 5.6 Differentiator Improvements 187
3.1 Real Silicon Diode in a Half-Wave 5.7 Integrator and Differentiator
Rectifier 82 Applications 187
3.2 Diode Clamp 85 5.8 Real Integrator Behavior 195
3.3 Peak Detector 85 5.9 Bidirectional EMG Controller 199
3.4 Voltage Limiter 89 6.1 Nerd Numbers 209
3.5 Effects of Load on Voltage Regulator 6.2 Computer Magic 210
Design 92
6.3 Everyday Logic 219
3.6 78XX Series Voltage Regulator 94
6.4 Equivalence of Sum of Products and Product
3.7 Automobile Charging System 95 of Sums 222
3.8 Analog Switch Limit 114 6.5 JK Flip-Flop Timing Diagram 230
vii
viii Class Discussion Items

6.6 Computer Memory 230 9.3 LVDT Signal Filtering 416

6.7 Switch Debouncer Function 231 9.4 Encoder Binary Code Problems 418
6.8 Converting Between Serial and Parallel 9.5 Gray-to-Binary-Code Conversion 421
Data 233 9.6 Encoder 1X Circuit with Jitter 422
6.9 Everyday Use of Logic Devices 234 9.7 Robotic Arm with Encoders 423
6.10 CMOS and TTL Power Consumption 236 9.8 Piezoresistive Effect in Strain Gages 430
6.11 NAND Magic 237 9.9 Wheatstone Bridge Excitation Voltage 432
6.12 Driving an LED 240 9.10 Bridge Resistances in Three-Wire
6.13 Up-Down Counters 247 Bridges 433
6.14 Astable Square-Wave Generator 252 9.11 Strain Gage Bond Effects 438
6.15 Digital Tachometer Accuracy 254 9.12 Sampling Rate Fixator Strain Gages 441
6.16 Digital Tachometer Latch Timing 254 9.13 Effects of Gravity on an Accelerometer 452
6.17 Using Storage and Bypass Capacitors in 9.14 Amplitude Anomaly in Accelerometer
Digital Design 255 Frequency Response 458
9.15 Piezoelectric Sound 458
7.1 Car Microcontrollers 272
7.2 Decrement Past 0 281 10.1 Examples of Solenoids, Voice Coils, and
7.3 PicBasic Pro and Assembly Language Relays 469
Comparison 293 10.2 Eddy Currents 471
7.4 PicBasic Pro Equivalents of Assembly 10.3 Field-Field Interaction in a Motor 474
Language Statements 293 10.4 Dissection of Radio Shack Motor 475
7.5 Multiple Door and Window Home Security 10.5 H-bridge Flyback Protection 484
System 296 10.6 Stepper Motor Logic 497
7.6 PIC vs. Logic Gates 296 10.7 Motor Sizing 505
7.7 Home Security System Design 10.8 Examples of Electric Motors 505
Limitation 296
10.9 Force Generated by a Double-Acting
7.8 How Does Pot Work? 299 Cylinder 511
7.9 Software Debounce 299
7.10 Fast Counting 303 11.1 Derivative Filtering 531
7.11 Negative logic LED 363 11.2 Coin Counter Circuits 549

8.1 Wagon Wheels and the Sampling Theorem 379 A.1 Definition of Base Units 561
8.2 Sampling a Beat Signal 380 A.2 Common Use of SI Prefixes 565
8.3 Laboratory A/D Conversion 385 A.3 Physical Feel for SI Units 565
8.4 Selecting an A/D Converter 390 A.4 Statistical Calculations 570
8.5 Bipolar 4-Bit D/A Converter 393 A.5 Your Class Age Histogram 570
8.6 Audio CD Technology 395 A.6 Relationship Between Standard
8.7 Digital Guitar 395 Deviation and Sample Size 571

9.1 Household Three-Way Switch 413 C.1 Fracture Plane Orientation in a Tensile
9.2 LVDT Demodulation 415 Failure 582
 E X A M PL ES

1.1 Mechatronic System—Copy Machine 3 7.1 Assembly Language Instruction Details 278
1.2 Measurement System—Digital 7.2 Assembly Language Programming
Thermometer 5 Example 279
7.3 A PicBasic Pro Boolean Expression 287
2.1 Resistance of a Wire 16 7.4 PicBasic Pro Alternative to the Assembly
2.2 Resistance Color Codes 19 Language Program in Example 7.2 292
2.3 Kirchhoff’s Voltage Law 24 7.5 PicBasic Pro Program for the Home Security
2.4 Circuit Analysis 29 System Example 294
2.5 Input and Output Impedance 34 7.6 Graphically Displaying the Value of a
2.6 AC Signal Parameters 38 Potentiometer 297
2.7 AC Circuit Analysis 42 7.7 Arduino C Version of the Home Security
System Example 317
3.1 Half-Wave Rectifier Circuit Assuming 7.8 PIC A/D conversion, Serial Communication,
an Ideal Diode 81 and LCD Messaging 332
3.2 Analysis of Circuit with More Than One
Diode 88 8.1 Sampling Theorem and Aliasing 379
3.3 Zener Regulation Performance 91 8.2 Aperture Time 388
3.4 Guaranteeing a Transistor Is in
Saturation 99 9.1 Strain Gage Resistance Changes 429
9.2 Thermocouple Configuration with
4.1 Bandwidth of an Electrical Network 133 Nonstandard Reference 447

5.1 Sizing Resistors in Op Amp Circuits 195 A.1 Unit Prefixes 564
A.2 Significant Figures 566
6.1 Binary Arithmetic 208 A.3 Scientific Notation 566
6.2 Combinational Logic 212 A.4 Addition and Significant Figures 567
6.3 Simplifying a Boolean Expression 215 A.5 Subtraction and Significant Figures 567
6.4 Sum of Products and Product of Sums 220 A.6 Multiplication and Division and Significant
6.5 Flip-Flop Circuit Timing Diagram 229 Figures 568

ix
D E SI GN EXA MPLES

3.1 Zener Diode Voltage Regulator Design 93 7.1 Option for Driving a Seven-Segment Digital
3.2 LED Switch 103 Display with a PIC 299
3.3 Angular Position of a Robotic Scanner 106 7.2 PIC Solution to an Actuated Security
3.4 Circuit to Switch Power 114 Device 340

4.1 Automobile Suspension Selection 152 9.1 A Strain Gage Load Cell for an Exteriorized
Skeletal Fixator 439
5.1 Myogenic Control of a Prosthetic Limb 196
10.1 H-Bridge Drive for a DC Motor 485
6.1 Digital Tachometer 253
6.2 Digital Control of Power to a Load Using
Specialized ICs 255

Design elements: Internet Link (Pointing Hand): ©Marvid/iStockGetty Images; Lab Exercise (Flask): ©Marvid/iStockGetty Images;
MATLAB (MATLAB Examples): MATLAB and Simulink are registered trademarks of The MathWorks, Inc. See HYPERLINK “http://
www.mathworks.com/trademarks” www.mathworks.com/trademarks for a list of additional trademarks. The MathWorks Publisher
Logo identifies books that contain MATLAB content. Used with permission. The MathWorks does not warrant the accuracy of the
text or exercises in this book. This book’s use or discussion of MATLAB software or related products does not constitute endorsement
or sponsorship by The MathWorks of a particular use of the MATLAB® software or related products. For MATLAB® and Simulink®
product information, or information on other related products, please contact: The MathWorks, Inc., 3 Apple Hill Drive, Natick, MA,
01760-2098 USA. Tel: 508-647-7000. Fax: 508-647-7001. E-mail: HYPERLINK “mailto:info@­mathworks.com” info@mathworks.
com. Web: HYPERLINK “http://www.mathworks.com” www.­mathworks.com; Mechanical System (Chart): ©McGraw-Hill Global
Education Holdings, LLC; Video Demo (Video Play Symbol): ©Marvid/iStockGetty Images

x
 TH RE A D E D DE SIG N E X A M PL ES

Threaded Design Example A—DC motor power-op-amp speed controller

A.1 Introduction 6
A.2 Potentiometer interface 139
A.3 Power amp motor driver 179
A.4 Full solution 345
A.5 D/A converter interface 393

Threaded Design Example B—Stepper motor position and speed controller

B.1 Introduction 7
B.2 Full solution 348
B.3 Stepper motor driver 497

Threaded Design Example C—DC motor position and speed controller

C.1 Introduction 9
C.2 Keypad and LCD interfaces 324
C.3 Full solution with serial interface 353
C.4 Digital encoder interface 423
C.5 H-bridge driver and PWM speed control 487

xi
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P R E FACE

APPROACH
The formal boundaries of traditional engineering disciplines have become fuzzy fol-
lowing the advent of integrated circuits and computers. Nowhere is this more evi-
dent than in mechanical and electrical engineering, where products today include
an assembly of interdependent electrical and mechanical components. The field of
mechatronics has broadened the scope of the traditional field of electromechanics.
Mechatronics is defined as the field of study involving the analysis, design, synthe-
sis, and selection of systems that combine electronic and mechanical components
with modern controls and microprocessors.
This book is designed to serve as a text for (1) a modern instrumentation and
measurements course, (2) a hybrid electrical and mechanical engineering course
replacing traditional circuits and instrumentation courses, (3) a stand-alone mecha-
tronics course, or (4) the first course in a mechatronics sequence. The second option,
the hybrid course, provides an opportunity to reduce the number of credit hours
in a typical mechanical engineering curriculum. Options 3 and 4 could involve the
development of new interdisciplinary courses and curricula.
Currently, many curricula do not include a mechatronics course but include
some of the elements in other more traditional courses. The purpose of a course in
mechatronics is to provide a focused interdisciplinary experience for undergraduates
that encompasses important elements from traditional courses as well as contempo-
rary developments in electronics and computer control. These elements include mea-
surement theory, electronic circuits, computer interfacing, sensors, actuators, and
the design, analysis, and synthesis of mechatronic systems. This interdisciplinary
approach is valuable to students because virtually every newly designed engineering
product is a mechatronic system.

NEW TO THE FIFTH EDITION

The fifth edition of Introduction of Mechatronics and Measurement Systems has
been improved, updated, and expanded beyond the previous edition. Additions and
new features include:
• Arduino resources and examples added to supplement PIC microcontroller
programming.
• Matlab solutions added for all MathCAD analysis files provided in previous editions.
• More microcontroller programming and interfacing examples, including serial
communication.
• Expanded coverage of practical circuit and microcontroller-project debugging
and troubleshooting advice.
xiv
 Preface xv

• New section dealing with diode applications.

• New coverage of how to use an A/D reconstruction filter to produce high-fidelity
representations of sampled data.
• Expanded section dealing with virtual instrumentation and the NI ELVIS Labo-
ratory Platform.
• More website resources, including Internet links and online video demonstra-
tions, cited and described throughout the book.
• Additional end-of-chapter questions throughout the book provide more home-
work and practice options for professors and students.
• Corrections and many small improvements throughout the entire book.
Also, the Laboratory Exercises Manual that supplements and supports this book is
now available on-line for free and unlimited use by faculty and students. It is located,
along with video demonstrations, on the Lab Book web page at: mechatronics.­
colostate.edu/lab_book.html

CONTENT
Chapter 1 introduces mechatronic and measurement system terminology. Chapter 2
provides a review of basic electrical relations, circuit elements, and circuit analy-
sis. Chapter 3 deals with semiconductor electronics. Chapter 4 presents approaches
to analyzing and characterizing the response of mechatronic and measurement sys-
tems. Chapter 5 covers the basics of analog signal processing and the design and
analysis of operational amplifier circuits. Chapter 6 presents the basics of digi-
tal devices and the use of integrated circuits. Chapter 7 provides an introduction
to microcontroller programming and interfacing, and specifically covers the PIC
microcontroller and PicBasic Pro programming. Chapter 8 deals with data acqui-
sition and how to couple computers to measurement systems. Chapter 9 provides
an overview of the many sensors common in mechatronic systems. Chapter 10
introduces a number of devices used for actuating mechatronic systems. Finally,
Chapter 11 provides an overview of mechatronic system control architectures and
presents some case studies. Chapter 11 also provides an introduction to control
theory and its role in mechatronic system design. The appendices review the fun-
damentals of unit systems, statistics, error analysis, and mechanics of materials to
support and supplement measurement systems topics in the book.
It is practically impossible to write and revise a large textbook without introduc-
ing errors by mistake, despite the amount of care exercised by the authors, editors,
and typesetters. When errors are found, they will be published on the book website at:­
mechatronics.colostate.edu/book/corrections_5th_edition.html. You should visit
this page now to see if there are any corrections to record in your copy of the book.
If you find any additional errors, please report them to David.Alciatore@­colostate.
edu so they can be posted for the benefit of others. Also, please let me know if you
have suggestions or requests concerning improvements for future editions of the book.
Thank you.
xvi Preface

LEARNING TOOLS
Class discussion items (CDIs) are included throughout the book to serve as thought-
provoking exercises for the students and instructor-led cooperative learning activi-
ties in the classroom. They can also be used as out-of-class homework assignments
to supplement the questions and exercises at the end of each chapter. Hints and par-
tial answers for many of the CDIs are available on the book website at mechatronics
.colostate.edu. Analysis and design examples are also provided throughout the
book to improve a student’s ability to apply the material. To enhance student learn-
ing, carefully designed laboratory exercises coordinated with the lectures should
accompany a course using this text. A supplemental Laboratory Exercises Manual
is available for this purpose (see mechatronics.colostate.edu/lab_book.html for
more information). The combination of class discussion items, design examples,
and laboratory exercises exposes a student to a real-world practical approach and
provides a useful framework for future design work.
In addition to the analysis Examples and design-oriented Design Examples
that appear throughout the book, Threaded Design Examples are also included. The
examples are mechatronic systems that include microcontrollers, input and output
devices, sensors, actuators, support electronics, and software. The designs are pre-
sented incrementally as the pertinent material is covered throughout the chapters.
This allows the student to see and appreciate how a complex design can be created
with a divide-and-conquer approach. Also, the threaded designs help the student
relate to and value the circuit fundamentals and system response topics presented
early in the book. The examples help the students see the “big picture” through inter-
esting applications beginning in Chapter 1.

ACKNOWLEDGMENTS
To ensure the accuracy of this text, it has been class-tested at Colorado State Uni-
versity and the University of Wyoming. I’d like to thank all of the students at both
institutions who provided me valuable feedback throughout this process. In addition,
I’d like to thank my many reviewers for their valuable input.
YangQuan Chen Utah State University
Meng-Sang Chew Lehigh University
Mo-Yuen Chow North Carolina State University
Burford Furman San José State University
Venkat N. Krovi State University of New York, Buffalo
Satish Nair University of Missouri
Ramendra P. Roy Arizona State University
Ahmad Smaili Hariri Canadian University, Lebanon
David Walrath University of Wyoming
I’d also like to thank all of the users and readers who have sent in corrections and
recommendations for improvement via email. This input has helped me make the
new edition of the book better and as error-free as possible for everyone.
 ABOUT THE AUTHOR

Dr. David G. Alciatore has been a mechanical engineering professor at Colorado

State University (CSU) since 1991. Dr. Dave, as his students know him, is a ded-
icated teacher and has received numerous awards for his contributions, including
the university-wide Board of Governors “Excellence in Undergraduate Teaching
Award.” His major research, consulting, and teaching interests include modeling
and simulation of dynamic systems, mechatronic system design, high-speed video
motion analysis, and engineering education. Over his career, Dr. Dave has done
research and consulting dealing with robotics, computer graphics modeling, rapid
prototyping (3D printing), sports mechanics, and mechatronics.
Dr. Dave has a PhD (1990) and an MS (1987) in Mechanical Engineering from the
University of Texas at Austin, and a BS (1986) in Mechanical Engineering from the
University of New Orleans. He has been an active member of the American Society
of Mechanical Engineers (ASME) since 1984 and has served on many ASME
committees, boards, and task forces. He also served as an ASME Distinguished
Lecturer, and is a Fellow of the society. He is also a Professional Engineer.
In addition to his interest in mechatronics, Dr. Dave is passionate about the
physics and engineering of billiards equipment and techniques. He is author of the
book: The Illustrated Principles of Pool and Billiards and has published numerous
instructional-video DVDs dealing with understanding and playing the wonderful
game of pool. He also writes a monthly column for Billiards Digest magazine and
has a very active pool-related YouTube Channel. Dr. Dave incorporates his passion
for pool into the engineering classroom every chance he gets (e.g., when he teaches
Advanced Dynamics).
If you have used this book in the past, you will notice that a second author is
no longer listed. Dr. Dave co-authored earlier editions of this book with Michael
B. Histand. Dr. Histand retired in 2005 after a 37-year career at Colorado State
University. Dr. Dave has worked on the last two editions of this book on his own; but
in the early editions, Dr. Histand contributed a wealth of knowledge and experience
dealing with electronics, sensors, and instrumentation. Dr. Dave will always cherish
the time he spent with Mike, and he sincerely thanks him for the many enjoyable
years working together. He and Mike are good friends and still see each other on a
regular basis.

xvii
 SUPPLEMENTAL MATERIALS ARE AVAILABLE
ONLINE AT:
mechatronics.colostate.edu

Cross-referenced visual icons appear throughout the book to indicate where additional
information is available on the book website at mechatronics.colostate.edu.
Shown below are the icons used, along with a description of the resources to
which they point:

This sign indicates where an online video demonstration is available for viewing. The
online videos are YouTube videos or Windows Media (WMV) files viewable in an
Internet browser. The clips show and describe electronic components, mechatronic
devices and system examples, and as well as laboratory exercise demonstrations.
Video Demo

©David Alciatore

This sign indicates where a link to additional Internet resources is available on the
book website. These links provide students and instructors with reliable sources of
information for expanding their knowledge of certain concepts.

Internet Link

©McGraw-Hill Education
This sign indicates where Mathcad/Matlab files are available for performing analysis
calculations. The files can be edited to perform similar and expanded analyses. PDF
versions are also posted for those who do not have access to Mathcad/Matlab software.

©David Alciatore
This sign indicates where a laboratory exercise is available in the supplemental
Laboratory Exercises Manual that parallels the book. The manual provides useful
hands-on laboratory exercises that help reinforce the material in the book and allow
students to apply what they learn. Resources and short video demonstrations of most
of the exercises are available on the book website. For information about the Labora-
tory Exercises Manual, visit mechatronics.colostate.edu/lab_book.html. Lab Exercise

©David Alciatore

ADDITIONAL SUPPLEMENTS
More information, including a recommended course outline, a typical laboratory syl-
labus, Class Discussion Item hints, and other supplemental material, is available on
the book website.
In addition, a complete password-protected Solutions Manual containing solu-
tions to all end-of-chapter problems is available at the McGraw-Hill book website at
www.mhhe.com/alciatore.
These supplemental materials help students and instructors apply concepts in
the text to laboratory or real-world exercises, enhancing the learning experience.
 C H A P T E R 1
Introduction
CHAPTER OBJECTIVES

After you read, discuss, study, and apply ideas in this chapter, you will be able to:
1. Define mechatronics and appreciate its relevance to contemporary engineering
design
2. Identify a mechatronic system and its primary elements
3. Define the elements of a general measurement system

1.1 MECHATRONICS
Mechanical engineering, as a widespread professional practice, experienced a surge
of growth during the early 19th century because it provided a necessary founda-
tion for the rapid and successful development of the industrial revolution. At that
time, mines needed large pumps never before seen to keep their shafts dry, iron and
steel mills required pressures and temperatures beyond levels used commercially
until then, transportation systems needed more than real “horse power” to move
goods; structures began to stretch across ever wider abysses and to climb to dizzying
heights, manufacturing moved from the shop bench to large factories; and to support
these technical feats, people began to specialize and build bodies of knowledge that
formed the beginnings of the engineering disciplines.
The primary engineering disciplines of the 20th century—mechanical, electri-
cal, civil, and chemical—retained their individual bodies of knowledge, textbooks,
and professional journals because the disciplines were viewed as having mutually
exclusive intellectual and professional territory. Entering students could assess their
individual intellectual talents and choose one of the fields as a profession. We are now
witnessing a new scientific and social revolution known as the information revolu-
tion, where engineering specializations ironically seem to be simultaneously focusing
and diversifying. This contemporary revolution was spawned by the engineering devel-
opment of semiconductor electronics, which has driven an information and communi­
cations explosion that is transforming human life. To practice engineering today, we

1
2 C H A P T E R 1 Introduction

must understand new ways to process information and be able to utilize semicon-
ductor electronics within our products, no matter what label we put on ourselves as
practitioners. Mechatronics is one of the new and exciting fields on the engineering
landscape, subsuming parts of traditional engineering fields and requiring a broader
approach to the design of systems that we can formally call mechatronic systems.
Then what precisely is mechatronics? The term mechatronics is used to denote
a rapidly developing, interdisciplinary field of engineering dealing with the design
of products whose function relies on the integration of mechanical and electronic
Internet Link components coordinated by a control architecture. Other definitions of the term
“mechatronics” can be found online at Internet Link 1.1. The word mechatronics
1.1 Definitions of was coined in Japan in the late 1960s, spread through Europe, and is now commonly
“mechatronics”
used in the United States. The primary disciplines important in the design of mecha-
tronic systems include mechanics, electronics, controls, and computer engineering.
A mechatronic system engineer must be able to design and select analog and digital
circuits, microprocessor-based components, mechanical devices, sensors and actua-
tors, and controls so that the final product achieves a desired goal.
Mechatronic systems are sometimes referred to as smart devices. While the term
“smart” is elusive in precise definition, in the engineering sense we mean the inclu-
sion of elements such as logic, feedback, and computation that in a complex design
may appear to simulate human thinking processes. It is not easy to compartmentalize
mechatronic system design within a traditional field of engineering because such
design draws from knowledge across many fields. The mechatronic system designer
must be a generalist, willing to seek and apply knowledge from a broad range of
sources. This may intimidate the student at first, but it offers great benefits for indi-
viduality and continued learning during one’s career.
Today, practically all mechanical devices include electronic components and some
type of digital monitoring or control. Therefore, the term mechatronic system encom-
passes a myriad of devices and systems. Increasingly, microcontrollers are embedded
in electromechanical devices, creating much more flexibility and control possibilities
in system design. Examples of mechatronic systems include an aircraft flight con-
trol and navigation system (including those on consumer drones), automobile air-bag
safety system and antilock brake systems, automated manufacturing equipment such
as robots and numerically controlled (NC) machine tools, smart kitchen and home
appliances such as bread machines and clothes washing machines, and even toys.
Figure 1.1 illustrates all the components in a typical mechatronic system. The
actuators produce motion or cause some action; the sensors detect the state of the sys-
tem parameters, inputs, and outputs; digital devices control the system; conditioning
and interfacing circuits provide connections between the control circuits and the input/
output devices; and a user interface enables manual inputs and provides graphical dis-
plays or visual feedback to the user. The subsequent chapters provide an introduction
to the elements listed in this block diagram and describe aspects of their analysis and
design. At the beginning of each chapter, the elements presented are emphasized in
Internet Link a copy of Figure 1.1. This will help you maintain a perspective on the importance of
1.2 Online each element as you gradually build your capability to design a mechatronic system.
mechatronics Internet Link 1.2 provides links to various vendors and sources of information for
resources researching and purchasing different types of mechatronics components.
 1.1 Mechatronics 3

MECHANICAL SYSTEM
- system model - dynamic response

ACTUATORS SENSORS INPUT SIGNAL

- solenoids, voice coils
CONDITIONING
- switches - strain gauge AND INTERFACING
- DC motors
- potentiometers - thermocouple Internet Link
- stepper motors
- servomotors - photoelectrics - accelerometer - discrete circuits - filters
- hydraulics, pneumatics - digital encoder - MEMS - amplifiers - A/D, D/D 1.3 Segway
human transporter

DIGITAL CONTROL USER INTERFACE

OUTPUT SIGNAL
CONDITIONING ARCHITECTURES Inputs: Outputs:
AND INTERFACING - buttons, knobs - LEDs
- logic circuits - sequencing, timing - keypad, keyboard - digital displays
- microcontroller - logic, arithmetic - joystick, mouse - LCD
- D/A, D/D - power transistors - SBC - control algorithms
- PWM - power amps - microphone - monitor/screen
- PLC - communication - touch screen - buzzer/speaker
Video Demo
Figure 1.1 Mechatronic system components.
1.1 Adept One
robot demon-
stration
Example 1.1 describes a good example of a mechatronic system—an office 1.2 Adept One
copy machine. All of the components in Figure 1.1 can be found in this com- robot internal
design and
mon piece of office equipment. Other mechatronic system examples can be found
construction
on the book website. See the Segway Human Transporter at Internet Link 1.3,
1.3 Honda Asimo
the Adept pick-and-place industrial robot in Video Demos 1.1 and 1.2, the Honda
Raleigh, NC,
Asimo and Sony Qrio humanoid-like robots in Video Demos 1.3 and 1.4, and demonstration
the inkjet printer in Video Demo 1.5. As with the copy machine in Example 1.1,
1.4 Sony “Qrio”
these robots and printer contain all of the mechatronic system components shown Japanese dance
in Figure 1.1. Figure 1.2 labels the specific components mentioned in Video demo
Demo 1.5. Video demonstrations of many more robotics-related devices can be found 1.5 Inkjet printer
components

Mechatronic System—Copy Machine EX AM PL E 1 .1

An office copy machine is a good example of a contemporary mechatronic system. It includes
analog and digital circuits, sensors, actuators, and microprocessors. The copying process
works as follows: The user places an original in a loading bin and pushes a button to start the
process; the original is transported to the platen glass; and a high-intensity light source scans
the original and transfers the corresponding image as a charge distribution to a drum. Next,
a blank piece of paper is retrieved from a loading cartridge, and the image is transferred onto
the paper with an electrostatic deposition of ink toner powder that is heated to bond to the
paper. A sorting mechanism then optionally delivers the copy to an appropriate bin.
Analog circuits control the lamp, heater, and other power circuits in the machine. Digital
circuits control the digital displays, indicator lights, buttons, and switches forming the user
interface. Other digital circuits include logic circuits and microprocessors that coordinate all
of the functions in the machine. Optical sensors and microswitches detect the presence or
absence of paper, its proper positioning, and whether or not doors and latches are in their cor-
rect positions. Other sensors include encoders used to track motor rotation. Actuators include
servo and stepper motors that load and transport the paper, turn the drum, and index the sorter.
4 C H A P T E R 1 Introduction

DC motors with piezoelectric

belt and gear drives inkjet head

digital
encoders
with
photo-
interrupters

limit
switches

printed circuit boards

Internet Link LED light tube
with integrated circuits

1.4 Robotics video Figure 1.2 Inkjet printer components.

demonstrations ©David Alciatore
1.5 Mechatronic
system video at Internet Link 1.4, and demonstrations of other mechatronic system examples can
demonstrations be found at Internet Link 1.5.

■ CLASS DISCUSSION ITEM 1.1

Household Mechatronic Systems

What typical household items can be characterized as mechatronic systems? What

components do they contain that help you identify them as mechatronic systems?
If an item contains a microprocessor, describe the functions performed by the
microprocessor.

1.2 MEASUREMENT SYSTEMS

A fundamental part of many mechatronic systems is a measurement system com-
posed of the three basic parts illustrated in Figure 1.3. The transducer is a sens-
ing element that converts a physical input into an output, usually a voltage. The
signal processor performs filtering, amplification, or other signal conditioning on
the transducer output. The term sensor is often used to refer to the transducer or
to the combination of transducer and signal processor. Finally, the recorder is an
instrument, a computer, or an output device that stores or displays the sensor data for
monitoring or subsequent processing.
Another Random Scribd Document
with Unrelated Content
 after diphthong or two vowels, 34;
after final syllable ending in two consonants, 34;
after final silent e, 34–35;
after ce or ge, 35;
after final e in participles, 35;
after final ie, 35;
after final y, 35–36;
of French endings in -re, 36;
of possessives of proper nouns, 36;
of -sion and -tion, 36;
of -or and -our, 34.
“Ought,” never combined with had, 109
-our, words ending in, 34.
“Out loud,” never used for aloud, 109.
“Over” compounds with, 50.
Panama, postal rates to, 135.
Paper measure, table of, 151.
Parables, biblical, capitalization of titles, 20.
Paragraphs,
explanation of, 57;
rules for, 55–58;
unity, 57;
emphasis, 57, 58;
length, 57;
coherence, 57;
connective words between related sentences, 58;
space used proportional to importance, 58;
length, 58;
indention of, 55, 57, 58, 60.
Parcel post,
domestic, 131, 162;
foreign, 136.
“Parent,” compounds of, 47.
Parentheses:
substitution of dashes for, 14;
use of, with interrogation-point, 16;
placing of period with, 11;
defined, 18;
use of, in figures or letters to mark divisions in
enumerations, 18;
subdivided by brackets, 18.
Parenthetical clauses. See Clauses.
Parks, capitalization of names of, 23.
“Partake of,” never used for eat, 109.
Participles:
list of, how spelled, 37;
not to be hyphenated with adverbs ending in “-ly,” 46;
ending in -ing, distinguished from verbal nouns, 106.
Particles, in French, German, Italian, and Dutch, capitalization
of, 25–26.
Parties, political, capitalization of names of, 27.
“Party,” never used for person, 109.
Passim, italicized, 64.
Pence. See Shillings.
Peoples, capitalization of names or epithets of, 27.
“Per,” correct use of, 109.
Percentage, use of figures in, 31.
“Perception,” correct use of, 109.
Periodicals:
titles of, definite article not to be treated as part of, 30;
use of italics for, 62;
postal rates, etc., 129.
Periods:
placing of, in connection with quotation-marks, 11;
rules for use of, 11–12;
omitted after running-heads, 12;
after box-heads in tables, 12;
after cut-in side notes, 12;
after centered head-lines, 12;
after legends, 12;
after subheads, 12;
after date-lines, 12;
after signatures, 12;
after titles, blocked headings, etc., 12;
after roman numerals, 12;
use of, after abbreviations, 12;
after a complete sentence, 12;
to indicate an ellipsis, 12.
Personifications: abstract ideas, capitalization of, 23.
Phrases:
inverted, use of comma, 5;
in apposition, use of comma, 6;
salutatory, use of comma, 7;
foreign, italicization of, 62–63.
“Pilgrim Fathers,” capitalization of, 22.
Plays, rule for references to, 66.
 Plurals, of foreign words: cherub, memorandum, datum,
donna, stratum, addendum, and rubai, 109.
P.M. (post meridiem ):
set in small capitals, 30;
spacing of, 59.
Poetry:
rules for quotation alignment, in setting, 17;
titles of poems, to be quoted, 17;
omission of apostrophe in poems when word is contracted
for meter, 19;
capitalization of first word of each line, 29;
indention of, 55;
italicizing of, 62.
Points of compass:
capitalization of, 22, 23, 24;
hyphenization, 49.
Political alliances, parties, divisions, capitalization of names of,
27, 28.
Political divisions, capitalization of, 28.
Possessive case, how designated, 19.
Possessives of proper nouns ending in s, how formed, 36.
“Post,” compounds with, 50.
Postal cards, use of, 125.
Postal regulations, 129–141.
Pounds (£), no space between symbol and preceding figures,
60.
“Pre-,” compounds with, 47–48.
Preface, use of italic in, 62.
Prefixes, “co-,” “pre-,” and “re-,” hyphenization of, 47–48.
Prepositions, capitalization of, in titles of books and essays, 26.
“President,”
capitalization of, 25;
when spelled in full, 68.
“Pretty,” correct use of, 109.
“Professor,” when spelled in full, 68.
Pronouns:
used with noun for emphasis, comma omitted, 8;
referring to Deity, capitalization of, 21.
Pronunciation, correct, influence of, in division of words, 52–
54.
Proper names:
capitalization, of, 22–24;
abbreviation of, 66;
 derivatives from, familiarly used, not capitalized, 24.
Proper nouns: formation of possessive, 36.
“Propose,” distinguished from purpose, 109.
Prox., not used, 65.
Psalms:
capitalization of titles of, 21;
capitalization of, 22.
“Pseudo,” compounds with, 51.
Publications:
use of colon in titles of literary references, 11;
use of italics for, 62.
Publishers: use of colon separating city of publication and
name of, in literary references, 11.
Punctuation:
origin and purpose of, 3;
rules for, 3–19;
of headings of letters, 115;
“open” and “close,” 3–4.
Punctuation marks:
list of, 2;
after italics to be italic, 64.
Q, inseparable from u, 53.
“Quarter,” compounds with, 47.
“Quasi,” compounds with, 48.
Queries, when bracketed, 18.
Question-mark. See Interrogation-point.
“Quite,” correct use of, 109.
Quotation-marks:
use of, 16–17;
double and single, 16–17;
in poetry, 16;
in ellipses, 17;
repetition in paragraph beginnings, 17;
in titles of poems, books, etc., 17;
serial titles, 17;
names of ships, 17;
titles of works of art, 17;
words and phrases accompanied by definitions and specially
emphasized, or intended to possess unusual, technical, or
ironical meanings, 17;
use of colon with, 10;
substitution of dash for, 14;
use of comma with, 7;
 use of colon and dash before, 14;
use of exclamation-point with, 15;
capitalization of first word in, 29;
following colon, 30;
use of hair-space inside, 59.
Quotations: indention of, 55.
Races, capitalization of names of, 27.
“Railroad,” to be spelled out, 66.
“Raise,” never used as noun, 109.
“Rarely ever,” vulgarism for rarely, 109.
Rates, postal, 129–132.
“Re-,” compounds with, 47–48.
-re, French ending not used, 36.
Réaumur. See Thermometers.
“Reference,” used with with not in, 109.
References,
capitalization of, nouns, 28;
literary references, 28;
use of colon in scriptural, 11;
italics used in words, phrases, and abbreviations of literary
and legal, 64.
“Regard.” See under Reference.
Regiments, capitalization of names of, 29.
Regions, or parts of the world, proper capitalization of, 22–23.
Registered mail, domestic and foreign, regulations for, 138.
“Relative,” use of the word, 99.
Relative clauses, use of comma with, 6.
Religious terms, capitalization of, 20–22, 26.
Residence, use of comma before “of” in connection with, 7.
Resolutions:
word “Resolved” in, italicized, 64;
word “Whereas,” 26.
“Resolved,” in resolutions,
word following, to be capitalized, 26;
italicization of, 64.
Respect, capitalization of titles of, 25.
“Respect.” See under Reference.
“Reverend,” always preceded by the, 110.
Reverse indention, 55.
“Revolutionary,” capitalization of, 22.
Roman:
used in medical terms, 64;
in certain words and phrases, literary and legal, 64.
 Roman numerals:
use of period after, 12.
See Numerals.
“Rubaiyat,” plural of rubai, 109.
Running-heads, period not used following, 12.
Salutatory phrase:
of letters, business, formal and informal, 116–118;
use of comma, 7.
See Phrase.
“Same,” not used as pronoun, 110.
“Same as,” distinguished from just as, 110.
Sarcasm, indicated by use of exclamation-point, 15.
“Scarcely.” See under Hardly.
“School,” compounds with, 51.
Scientific terms,
capitalization of, 23;
italicizing of, 64.
Scriptural terms, abbreviations of, 90.
Scripture, punctuation of:
comma, 9;
colon, 11;
dash, 13;
spacing of, references, 60.
Seasons, capitalization of, 23.
“Seldom ever.” See under Rarely ever.
“Self,” compounds with, 47.
“Semi,” compounds with, 48, 50.
Semicolon:
defined, 8, 9;
compared with comma, 9;
placing of, in connection with quotation-marks, 9;
rules for use of, 9;
dividing compound sentences, 9;
separating passages in Scripture references containing
chapters, 9;
use of hair-space preceding, 59.
“Sensible of,” distinguished from sensitive to, 110.
Sentences:
first word of, capitalized, 29;
first word after colon capitalized in independent, 29;
connection of, in paragraph, 58.
Serial titles, to be quoted, 17.
“Set,” distinguished from sit, 110.
“Sewage,” correct use of, 110.
“Shall,” correct use of, 110.
“She.” See under Her.
Shillings and pence, abbreviations, s. and d., italics, 64.
Ships:
names of, quoted, 17;
names of, italicized, 62;
time and watch on board, 161.
“Should,” correct use of, 111.
“Show,” correct use of, 111.
“Show up,” vulgarism for expose, 111.
Side-heads:
capitalization of, 29;
italicizing of, 62.
Signatures,
omission of period after, 12;
italicizing of, 62;
general rules for, 122.
“Since,” correct use of, 111.
-sion and -tion, spelling of words terminating in, 39–40.
“Sister,” compounds with, 47.
“Size up,” vulgarism for estimate, 111.
Small capitals:
how indicated in MS., 30;
rules for, 30.
“So,” correct use of, 111.
Social organizations, capitalization of, 25.
Solar system, capitalization of popular names of, 23.
“Some,” correct use of, 111.
“Some one,” not a compound word, 51
“Some place,” written somewhere, 111.
“Sort.” See under Kind.
“Sort of,” correct use of, 111.
Sovereigns, abbreviation of names of, 69.
Spaces, examples of, 61.
Spacing:
rules for, 59–61;
uniformity of, 59;
hair-spaces in connection with punctuation marks, 59;
of abbreviated titles, 25, 59–60;
of Scripture references, 60;
of A.M., P.M., etc., 59;
symbols and figures, 60;
 at end of paragraph, 60;
in regard to turn-overs, 60;
kerned letters, f and j require hair-spaces, 60;
wide spacing, 60;
examples, dashes and spaces, 60–61;
of abbreviations of railroads, 66.
Special delivery, mail system, 139.
Species, scientific names of:
use of capitals, 23;
italicizing of, 64.
Spelling:
rules for, 31–34;
difficulties and choice of usages, 31;
of decades, ages, centuries, dynasties, 32;
of numbers of military bodies, streets, sessions of Congress,
32;
of numbers, 31–32;
of time of day, 32–33;
use of diphthongs, 33;
rules of orthography, 33–36, see Orthography;
lists of words, — accented words, 37;
participles, 37;
variable endings, -ize, 37–38;
ending in -ise, 38;
ending in -ible and -able, 39;
ending in -sion and -tion, 39–40;
pronounced alike, but varying in meaning according to
spelling, 40–44.
“Splendid,” correct use of, 111.
Square measure, table of, 150.
Squares, capitalization of names of, 23.
Standard time:
meaning and explanation of, 142–144;
table of, 144.
Stars, names of, italicized, 64.
“Start,” distinguished from begin, 111.
“State,” capitalization of, 24–25.
States:
spacing of abbreviations of, 60–61;
list of abbreviations of, 77–81.
Statistics, treatment of numbers in, 32.
“Stop,” distinguished from stay, 111.
“Strata,” plural of stratum, 109.
 Streets:
capitalization of names of, 23;
numbers of, spelled out, 32.
“Sub,” compounds with, 50.
Subdivisions: in literary references, not capitalized, 28.
Subheads,
omission of period after, 12;
italicizing of, 62.
Subject-matter: separation of, by dash, from its authority, 13.
“Sulpho,” compounds with, 51
“Super,” compounds with, 50.
“Supra,”
compounds with, 48;
italicized, 64.
Surveyors’ measure, table of, 151.
s.v., italicized, 64.
Symbols:
monetary, 90–91;
mathematical, 91–92;
medical, 93;
spacing of monetary, 60.
Tables: box-heads in, omission of period, 12.
“Take,” correct use of, 111.
“Take stock in,” slang expression, 112.
Technical:
use of figures in, matter, 32;
words or phrases, use of quotation-marks for, 17.
Tense, common errors of, 112.
Text of letters: business, formal, and informal, 118–120.
“That.” See under Which.
“The,” not part of title of magazines and papers, 30.
“Them,” distinguished from they, 112.
“Thermo,” compounds with, 51.
Thermometers, comparative table: Réaumur, Centigrade,
Fahrenheit, 148.
“They.” See under Them.
“This,” not used as adverb, 112.
Thoroughfares: capitalization of names of, 23; numbers of,
spelled out, 32.
“Through,” distinguished from finished, 112.
Timber and wood, measures of, 157.
Time:
use of colon between hours and minutes, 11;
 of day, when spelled out, 32;
standard, explanation of, 142–144;
on board ship, 161.
Time measure, table of, 151.
-tion and -sion. See -sion.
Title-pages, capitalization of certain words, 30.
Titles:
capitalization of, 24–26;
of poems, series, and works of art, to be quoted, 17;
of parables (biblical), capitalization of, 20;
of psalms, capitalization of, 20;
use of colon in literary references, 10–11;
capitalization of compounded, 22;
use of comma separating, from names, 6;
of honor, nobility, and respect, capitalization of, 25;
civil and military, capitalization of, 25;
foreign, capitalization of, 25–26;
of books or essays, capitalization of, 26;
of treaties, laws, and acts, capitalization of, 27;
definite article not treated as part of, in newspapers or
magazines, 30;
“ex,” “vice,” “general,” “elect,” etc., use of hyphen in
connecting, 47;
italicizing of books, newspapers, and periodicals, 62;
abbreviations of, with lists, 68–75;
capitalize when used alone 68–69;
of sovereigns, 69.
“To,” compounds with, 50.
“Too,” correct use of, 112.
“Treat,” followed by of, 112.
Treaties, capitalization of names of, 27.
“Tree,” compounds with, 49.
“Tri-,” compounds with, 50.
Tribes, capitalization of names of, 27.
Troy ounce, uses of the, 154–155.
Troy weight, table of, 150.
“Try,” followed by to, 112.
Two-letter syllables, avoid division of, 53.
“Ugly,” correct use of, 112.
Ult., not used, 65.
“Ultra,” compounds with, 48.
“Un-” (negative prefix), compounds with, 50.
“Under,” compounds with, 50.
“United States,” when abbreviated, 66.
Units of measure, not capitalized, 29–30.
Unity of paragraphs, 57.
“University,” capitalization of, 27.
Unknown quantities: algebraic, geometric, etc., italicized, 64.
v. (versus ), set in roman, 64.
“Van,” capitalization of, 25–26.
Verbal nouns, ending in -ing, distinguished from participles,
106.
Verbs, not to be omitted from sentence, 112.
Versions of Bible, capitalization of, 20.
“Very,” correct use of, 112.
“Vice,” compounds with, 46.
Vide, italicized, 64.
“Visitor,” distinguished from visitant, 113.
“viz.,” set in roman, 64.
“Vocation,” distinguished from avocation, 113.
Vocative words,
comma separating, 7;
“O” as distinguished from exclamatory “oh,” 15.
Volt. See Electrical measures.
“Von,” capitalization of, 25–26.
Vowels, rules for division of words based upon, 52–53.
“Want,” correct use of, 113.
Watch on board ship, the, 161.
Watt. See Electrical measures.
“Way,” not to be used for away, 113.
Week, days of:
capitalization of, 23;
abbreviation of, 65–66.
Weights:
metric system, table 149;
apothecaries’, 150;
avoirdupois, 150;
British, 153;
the Troy ounce, 155;
Indian, 159;
foreign, 160;
and measures, tables and rules for, 149–160.
“What,” distinguished from that, 113.
“Whereas,” in resolutions, use of capital, 26.
“Which,” correct use of, 113.
“Who,” correct use of, 113.
“Will.” See under Shall.
“Woman,”
compounds with, 49;
correct use of, See Gentleman.
“Womanly,” distinguished from womanish, 113.
Words:
accompanied by definition, to be quoted, 17;
of unusual, technical, or ironical meanings, to be quoted, 17;
specially desired to attract attention, to be quoted, 17;
contraction of, omission indicated by apostrophe, 19;
derived from proper names, capitalization of, 24;
with special meaning, capitalization of, 29;
accented, 37;
pronounced alike, but varying in meaning, according to
spelling, list of 40–44;
foreign, italicizing of, 62–63.
“World,” compounds with, 47.
“Would.” See under Should.
Wrapping, of mail matter, 132.
X, do not divide on, 53.
Yard measures, table of, 158.
Years, numbers preceding, spelled out, 32.
Zoölogical terms:
capitalization of, 23;
italicizing of, 64.
 TRANSCRIBER’S NOTE.
The transcriber produced the cover image and hereby assigns it to the public
domain.
Original spelling and grammar have been generally retained, with some
exceptions noted below.
Original printed page numbers are shown in the right like this: {52}.
Footnotes have been relabeled 1–32.
Large curly brackets ‘}’ used as graphic devices to combine information over
two or more lines of text have been eliminated, restructuring as necessary to
retain the original meaning.
There are many uncommon unicode characters in this book; specialized fonts
may be necessary to view them all in the simple text edition. Images of
many of them are substituted in the html, epub & mobi editions. Examples―
On page 91, the mathematical sign for “The difference between” is shown
in the original book as a glyph like a tilde, reproduced here in the
html/epub/mobi editions as an image from the printed book. The text
edition of this transcription uses ‘≏’ (U+224F DIFFERENCE BETWEEN).
On page 92, the glyph for “Factorial sign” is shown in the original book as
a right angle, roughly L shaped, with a “5” nestled into the angle (the
printed example means specifically “factorial of 5”). This form is evidently
obsolete, and the transcriber failed to find a Unicode method of
representation. So in the text edition the code “[∟5]” is substituted, while
in the html/epub/mobi editions, an image is used.
In the phrase on page 95 "one of those figures, CI , CD, ∞, ", the
original book showed an uncial m, reproduced here in the html/epub/mobi
editions as an image. The simple text edition of this transcription
substitutes ‘ⅿ’ (U+217F, SMALL ROMAN NUMERAL ONE THOUSAND) instead. This glyph
recurs on page 98.
To Table of Contents
Page 60. The second paragraph was printed so as to look approximately like
the following: “[ . . . ] II Sam. 1 : 2–6; 2 : 8–12. ”, namely, with equal space
on either side of the colon in the first instance and unequal spaces in the
second instance. This transcription makes it equal spaces, U+200A (hair
space).
Pages 65–92. The chapter titled AB­BREV­IA­TIONS contains several sections: in
order, “DATES”, “PRO­PER NAMES”, “TITLES”, “6. COM­MER­CIAL AB­BREV­IA­TIONS”, “7. GEO­‐
GRAPH­I­CAL AB­BREV­IA­TIONS”, &c. These are given html heading level code
“<h3>” in this transcription. Unfortunately, there were no numbered
headings corresponding to numbers 1–5 in the original book, so these are
 missing from this transcription as well. (There were and remain paragraphs
numbered 1–5, with no headings, but those all belong to the section
“TITLES”)
Page 149. In the original table “Weights and Measures”, the first and fifth
columns are not directly related to the other three, and arguably do not
belong in the table. Therefore, these columns have been stripped out of
the table and recast as a nested list ahead of the table.
Page 152. The phrase “1 lite” was changed to “1 liter”.
Page 168, Index entry “Compounds, with:”; a pointer to page 50 was added
for subentry ‘ “in” ’.
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