Reinventing Mechatronics: Developing Future Directions for Mechatronics 9783030291303, 9783030291310, 3030291308

Table of contents :
Preface
Mechatronics 2018
The Mechatronics Forum
Acknowledgements
Contents
About the Editors
Reinventing Mechatronics
Introduction and Background
Reinventing Mechatronics
Challenges
Summary
References
Reinventing Mechatronics—A Personal Perspective
Background
Joint European Torus
Dounreay
Fukushima Daiichi
Comment
From Mechatronics to the Cloud
How Did We Get to Here?
Mechatronics, Cyber-Physical Systems, the Internet of Things & the Cloud
Design Issues
What Does What?
Manufacturing Systems
Issues & Concerns
Privacy
The Consumer
Ethics
Conclusions
References
Path Planning for Semi-autonomous Agricultural Vehicles
Introduction
Path Model
Robust Estimation
Initialization
Straight Line Estimate
Circle Estimate
Linear Polynomial Coefficient Estimate
Path Planning
Evaluation
Conclusions
References
The AgriRover: A Reinvented Mechatronic Platform from Space Robotics for Precision Farming
Introduction
Soil Quality Measurement Challenge
Current Soil Monitoring Technologies
A Reinvented Mechatronics Mobile Platform Design
AgriRover System Requirements and Architecture
Agricultural Object Recognition
The Reinvention Process and the AgriRover—Sensing Mobile Platform
Four Independently Driven Wheeled Platform Design
Instantaneous Power Modelling
Soil Sample Collection Mechanism
Agricultural Object Recognition
Autonomous Navigation and Task Planning
Navigation System Design
Energy Based Path Planning
Energy Optimization Path Planning
Discussion and Future Work
Reinvention
Future Mechatronic Research Directions
Conclusions
References
Assistive Gait Wearable Robots—From the Laboratory to the Real Environment
Introduction
Review of Exoskeletons for Human Assistance and Rehabilitation
Assessment of Gait Parameters in Design and Performance Evaluation and Relation to the Assistive Gait Wearable Robots (AGWR)
Methods and Challenges for the Data Collection, Analysis and Evaluation of Gait Performance
Photogrammetry
Wearable Measurement Systems
Conclusions
References
A High Fidelity Driving Simulation Platform for the Development and Validation of Advanced Driver Assistance Systems
Introduction
Real-Time Simulation
Components of the Human-in-the-Loop Simulation Platform
Real-Time Vehicle Models
Virtual Environment, Sensor and Communication Models
Automated Driving Functionality
Motion Cueing
Comparison of Vehicle Dynamics Models
Simplified Models
Comparison Studies
Evaluation of ADF Controllers
ACC on a Highway Scenario
Autonomous Intersection Crossing
Conclusions & Outlook
References
Advancing Assembly Through Human-Robot Collaboration: Framework and Implementation
Introduction
Human-Robot Remote Collaboration (HRRC)
Human-Robot Local Collaboration (HRLC)
Human-Robot Collaboration Framework
Remote Human-Robot Collaboration
Local Human-Robot Collaboration
Discussions and Conclusions
References
Tracking Control for a Fully-Actuated UAV
Introduction
Realization
Mathematical Model
Rigid Body Dynamics
Simplified Cascade Model
Rigid Body Control
Actuator Dynamics and Control
Servo Dynamics
Thrust Dynamics
State Estimation
Angular Velocity and Torque Bias Estimation
Configuration Measurement Time Estimation
Configuration Estimation
Force Bias Estimation
Flight Test Results
References
Simplified Manufacturing of Machine Tools Utilising Mechatronic Solutions on the Example of the Experimental Machine MAX
Introduction
Design of the Experimental Machine MAX
Concept and Design Goal of the Experimental Machine
Structure and Main Components of the Experimental Machine
Correction of Geometric and Kinematic Errors
Error Modelling Using Rigid Body Kinematics
Identification of the Geometric-Kinematic Errors
Verification of the Geometric-Kinematic Error Correction
Compensation of Dynamic Errors
Impulse Compensation for Linear Motor Driven Feed Axes
Vibration Reduction Using the Example of an Engraving Process
Conclusion and Outlook
References
Simulation in the Design of Machine Tools
Introduction
State of the Art in Machine Tool Simulation
Specific Properties of Machine Tools
Requirements on Simulation Software for Machine Tools
Model Order Reduction
Moving Interfaces
Software Implementation
Applications
Position-Dependent Frequency Response
Contour Error
Structure and Process Coupling
Volumetric Accuracy Evaluation
Conclusions
References
Reinventing Mechatronics—Final Thoughts
Introduction
Technology
Complexity
Operating Software
Hardware
Reliable and Rechargeable Power Supplies
Innocent Human Error
Connectivity
Privacy, Dependency, Ubiquity and the Hybrid Society
Final Thoughts
References