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DM 822

DM 822 - Mechatronics

Mechatronics is the integration of mechanical, electrical, computer and control engineering. This course deals with the analytical tools required to design, model, analyze and control mechatronic systems. Properties of linear and nonlinear systems, system identification methods, process modelling, sensor and actuators, computer interfacing, computer control of machines and processes (PLC and PC based). Laboratories will include PLC based automation applications and PC based advanced robotics.

Course Leader: Brian Surgenor, Queen’s Engineering

Course Overview

Mechatronics is the integration of mechanical, electrical, computer and control engineering. This course deals with the analytical tools and hands-on experience required to design, model, analyze and control mechatronic systems. The course will develop the underlying science of mechatronic systems and show its application to the computer control of machines and manufacturing processes. This course is designed to introduce mechanical engineers to the subject of mechatronics. Engineers in other disciplines are also welcome, particularly if they are interested in refreshing their knowledge of microcontrollers and sensors. Module 1 is hands-on oriented and focuses on the application of electronics and microprocessors to mechanical systems. It uses protoboards and mobile robots to introduce elements of mechatronic systems. Module 2 is designed to reinforce a student’s theoretical knowledge of dynamic modeling, control systems and measurement techniques. It provides an overview of mechatronic systems design, starting with review of dynamic system modelling, measurement and sensor techniques, actuator technologies, and analog and digital control systems. MATLAB is used for simulation based exercises.

Course Objectives

The course objective is to extend a student's working knowledge of engineering and design to include experience with microcontrollers and applied electronics, to reinforce their theoretical knowledge of dynamic modelling, control systems, measurement and sensor techniques, and finally to sensitize the student to technical and non-technical issues that impact on the design of mechatronic systems.

Activities and Schedule

Module 1 of the course will focus on practical applications of theory and principles through workshops and take home assignments. Module 2 of the course will focus on technical theory and principles, and finishes with a formal written examination. The are no assignments between modules. However, the first assignment for Module 1 is sent to registered students before the start of the course. The underlying purpose of the first assignment is to confirm that the hardware/software combination used in Module 1 can be run at home for the take-home assignments.

Module 1

Day 1 - Introduction to Mechatronics
  • lectures on microcontrollers and electronics
  • workshop on robot navigation by contact
  • assignment on infrared range sensors and AtoD's
Day 2 - Sensors for Mechatronics - Part One
  • lectures on sensors and actuators
  • workshop on robot navigation by range
  • assignment on colour sensing and CMUcam’s
Day 3 - Sensors for Mechatronics - Part Two
  • lectures on communication and vision systems
  • workshop on robot navigation by colour
  • assignment on advanced sensor technologies
Day 4 - Mobile Robots and Autonomous Vehicles
  • lectures on mechatronics design and autonomous vehicles
  • workshop on robot teaming and room navigation
  • lecture on introduction to Module 2

Module 2

Day 1 - Modelling and Analysis of Dynamic Systems
  • review of modelling and dynamics
  • from physical models to mathematical models
  • first and second order system models
  • linearization and frequency response
  • system identification techniques
Day 2 - Control Systems
  • review of classical controls
  • system performance specifications
  • continuous control design techniques
  • discrete control design techniques
  • PLC Programming, trajectory planning
Day 3 - Robotics and Automation Technology
  • Kinematics, dynamics and control of robots
  • Machine vision and robotic workcells
Day 4 - Laboratories and Demonstrations
  • laboratories and demonstrations on
    • PLC control of a pneumatic pick and place gantry robot
    • PLC and PC speed control of a DC motor
    • vision based robotics

Course Evaluation

  • 30% - Workshops
  • 20% - Assignments
  • 25% - Laboratories
  • 25% - Examination

Recommended Reading

De Silva, C.W. (2010) Mechatronics: A Foundation Course (1st ed.), CRC Press.

Bolton, W. (2012) Mechatronics: Electronic Control Systems in Mechanical and Electrical Engineering (5th ed.), Pearson.


Biography of Course Leader

Brian Surgenor, P.Eng. brian.surgenor@queensu.ca

Brian Surgenor is a Professor in the Department of Mechanical and Materials Engineering at Queen’s University. His research interests are in the areas of machine vision based inspection and intelligent control systems for manufacturing applications. He teaches automatic controls and mechatronics engineering at the undergraduate level, and project management at the graduate level. During his term at Queen’s, he has taken sabbaticals to work for companies in Australia (Sydney), Sweden (Lund) and the UK (Bath). He has worked on projects with Autosystems, Imperial Oil, Northern Telecom, Ontario Hydro, QUNO, Schlumberger and Van-Rob.

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University of Western Ontario
Queen's University