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Mechatronic & Innovative Applications

  • ID: 2317171
  • Book
  • January 2012
  • Bentham Science Publishers Ltd
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Present day mechatronic systems are designed with synergistic integration of mechanics, electronics and computer technology to produce intelligent devices for the purpose of solving real-world problems. Crucial requirements for a mechatronic system are robustness and fault tolerance, i.e. it should have the ability to process incomplete, imprecise or uncertain information. Such systems often have to work in collaborative environments while being subjected to adverse conditions yet adhering to strict safety standards. This e-book explains the fundamentals of designing such systems from the first principles and how to embed intelligence into them. Examples in this volume are not restricted to production lines, but extend to extreme safety based systems such as space and underwater robotics, autonomous transportation systems, aviation systems and medical robots. Moreover, this e-book also presents recent developments in the design of innovative and intelligent mechatronic systems, applied to robotics and transportation systems, thereby providing an authoritative support for researchers and professionals having basic knowledge in mechatronics.
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Chapter 1. Mechatronic Vehicle Braking Systems
1.1. Introduction
1.2. Brake System Model
1.3. Bicycle Vehicle Model
1.4. Regenerative Braking
1.5. Four Wheel Vehicle Model
1.6. Conclusions

Chapter 2. Development of Low Cost Electromyography (EMG) Controlled Prosthetic Hand
2.1. Introduction
2.2. Background of Electromyography
2.3. Mechanical Design and Modeling
2.4. Electronics Design
2.5. Control
2.6. Actuators
2.7. Conclusion

Chapter 3. Control of Free and Constrained Motion of a C5 Parallel Robot
3.1. Introduction
3.2. Description of the C5 Parallel Robot and Nomenclature
3.3. Adaptive Position Controller Design
3.4. Adaptive Force Controller Design
3.5. Conclusion

Chapter 4. Optimal Mechatronics for Driving Simulator Design
4.1. Introduction
4.2. Overview on Existing Simulators
4.3. Single/Double Track Dynamics
4.4. Design and Mechanical Aspects
4.5. Platform Instrumentation
4.6. Actuator Selection and Driving
4.7. Real-Time Monitoring, Sequencing and Synchronization
4.8. Motion Planning and Control
4.9. Visual, Sound and Traffic Systems
4.10. Rider Safety Versus Existing Security Systems
4.11. Conclusion

Chapter 5. Robust Monitoring of an Omnidirectionnal Mobile Robot
5.1. Introduction
5.2. Bond Graph Modeling
5.3. Fault Detection and Isolation Using Bond Graph
5.4. Residuals Evaluation
5.5. Application
5.6. Conclusions

Chapter 6. Bond Graph Model-Based Fault Detection and Isolation : Application to Intelligent Autonomous Vehicles
6.1. Introduction
6.2. Definitions and Problem Formulation
6.3. Model-Fased Fault Detection and Isolation
6.4. Fault detection and isolation applied to an electric vehicle
6.5. Results of the co-simulations
6.6. Conclusions

Chapter 7. Structural Reconfigurability Analysis for an Over-Actuated Electric Vehicle
7.1. Introduction
7.2. Graph and Bond graph
7.3. Structural system reconfigurability analysis using BG model
7.4. RobuCar study structural reconfigurability conditions
7.5. Conclusion

Chapter 8. Robust Fault Decision: Application to an Mobile Robot
8.1. Introduction
8.2. Bond Graph Methodology
8.3. Fuzzy Logic Methodology
8.4. Application
8.5. Conclusion

Chapter 9. Contribution to the Dynamic Modeling and Control of an Hexapod Robot
9.1. Introduction
9.2. Geometrical Modeling
9.3. Hexapod Dynamics Model
9.4. Force Distribution Problem
9.5. Quadratic Problem Formulation and Solution
9.6. Computed-Torque Control
9.7. Conclusion

Chapter 10. Robotized Brachytherapy of Prostate
10.1. Introduction
10.2. Mobile Target Tracking
10.3. On-Line Supervision
10.4. Conclusion

Chapter 11. Design of Hybrid Hyper-Redundant Robot Manipulator
11.1. Introduction
11.2. Geometric Model
11.3. Kinematic Model
11.4. Conclusion and Discussion

Chapter 12. Optical Measurement for Robotic Grinding and Polishing of Turbine Vanes
12.1. Introduction
12.2. Related Research Efforts
12.3. Problem Statement and the Proposed Approach
12.4. Online Profiling Approaches
12.5. Results and Discussions
12.6. Conclusions
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Editor: Rochdi Merzouki
Note: Product cover images may vary from those shown
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Note: Product cover images may vary from those shown