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DM 822 – Mechatronic Systems

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 industrial robots and mobile robots. 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.

Course Leaders:
Brian Surgenor, P.Eng., Queen’s University, Kingston
Scott Nokleby, P.Eng., UOIT, Oshawa

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

The course will focus on practical applications of the theory and principles of mechatronics through workshops and take home assignments. The first module has laboratories that use an industrial serial robot (EPSON ProSix PS3) to support the lectures and is held at UOIT in Oshawa. The second module has workshops that use an autonomous mobile robot (Arduino based) to support the lectures and is held in Mississauga. The first assignment for Module 2 is sent to registered students before the start of the module. The purpose of this assignment is to confirm that the hardware/software combination used in Module 2 can be run on each student’s laptop, and to provide a refresher and/or introduction to the Arduino.

Module 1 (in Oshawa)

Day 1 – Spatial Descriptions, Transformations, and Planar Kinematics
  • lectures on spatial descriptions, transformations, and planar kinematics
  • overview of the EPSON ProSix PS3 and its programming
  • laboratory on conveyor servicing using an industrial manipulator
  • assignment on planar kinematics
Day 2 – Forward and Inverse Displacement Problems for Spatial Manipulators
  • lecture on forward displacement problem and inverse displacement problem for spatial manipulators
  • laboratory on using the inverse displacement solution for path planning an industrial manipulator
  • assignment on spatial kinematics
Day 3 – Velocities, Static Forces, and Dynamics of Spatial Manipulators
  • lectures on the manipulator Jacobian and its application to velocity and static force problems
  • lecture on manipulator dynamics
  • laboratory on using conveyor servicing using a vision system and an industrial manipulator

Module 2 (in Mississauga)

Day 1 – Introduction to Mechatronics
  • lectures on microcontrollers and electronics
  • workshop on robot navigation by contact
  • assignment on infrared range sensors
Day 2 – Sensors for Mechatronics
  • lectures on sensors and actuators
  • workshop on robot navigation by range
  • assignment on stand-alone LIDAR
Day 3 – Mechatronics and Autonomous Vehicles
  • lectures on mechatronics and autonomous vehicles
  • workshop on mobile robot teaming and room navigation
  • lecture on introduction to Module 2

Course Evaluation

  • 30% – Workshops
  • 20% – Assignments from Module 1
  • 30% – Laboratories
  • 30% – Assignment from Module 2

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 Leaders

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 automatic controls and vision systems for manufacturing processes and autonomous vehicle applications. He teaches engineering design and mechatronics engineering at both the undergraduate and graduate levels. During his time 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.

Scott Nokleby is a Professor in the Department of Automotive, Mechanical, and Manufacturing Engineering at the University of Ontario Institute of Technology (UOIT). He is the Director of the Mechatronic and Robotic Systems Laboratory. From May 2010 until August 2011, Dr. Nokleby was a Visiting Professor at Cameco Corporation. Dr. Nokleby’s research areas include robotics and mechatronics with a focus is on the application of advanced kinematics for the control of redundant manipulator systems including joint redundant arms, redundantly-actuated parallel manipulators, and mobile-manipulator systems. He has an active research program with Cameco Corporation and Ontario Power Generation.