MANIPAL INTERNATIONAL UNIVERSITY

SCHOOL OF SCIENCE AND ENGINEERING

SEMESTER MARCH 2020

EMB 3343 ELEMENTS OF MECHATRONICS ASSIGNMENT 1

BACHELOR OF MECHANICAL ENGINEERING DUEDATE: 01/05/2020

Name: THARJENDRA PRASARD THOMAS

Student ID: 1101173015

QUESTION 1:
Cyber-Physical Systems (CPS) involves transdisciplinary approaches, merging theory of
cybernetics, mechatronics, design and process science: the combination of several systems
of different nature whose main purpose is to control a physical process and, through
feedback, adapt itself to new conditions, in real time. The computing elements coordinate
and communicate with sensors, which monitor cyber and physical indicators, and
actuators, which modify the cyber and physical environment. Furthermore, autonomous
vehicle was one of the CPS examples. Thus, discover all the mechatronic components used
in the autonomous vehicle.

EMB 3343 ELEMENTS OF MECHATRONICS DATE: 01/05/2020

 ANSWERS WITH DETAILED EXPLANATION

QUESTION 1

1. ELECTRIC MOTOR MCD EPOS; The mechatronic systems for the electric motor
MCD EPOS A smart MCD EPOS motor is at the core of each panel. Each module consists
of two MCD EPOS motors, one of them programmable-P (Programmable) and S (Slave)
in contrast to the second. The MCD EPOS P motor will control and operate a specific
motor (up to eight motor) after it has been programmed. The control system (PSC) is
located in the programmable engine and uses internal intelligence.

2. VEHICLE STEERING SYSTEM; The mobile vehicle steering system includes several
subsystems that perform various tasks. The physical layer (hardware), device layer and
user layer can be distinguished. The physical layer was built on a Pentium 1.8 GHz
industrial device. There are a range of inputs on the device, including: 4xUSB, COM port,
Ethernet, VGA, RS232. An external Wi-Fi antenna has been used for wireless data
transmission. The required autonomous vehicle trajectory must be achieved by close
collaboration between the mechanical, electronic and steering system

3. NDE SENSORS The deck surface must be in contact with NDE sensors including seismic
/ acoustic sensors and resistiveness samples. Thus, the NDE sensors have been relocated
from and to deck surface by a group of pneumatic actuators. The robot normally moves
and stops at some distance

4. MECHATRONIC DRIVE UNIT SYSTEMS There are four separate drive modules in
the final version of the designed prototype. The modules vary primarily in the method of
propulsion transmission and in a minor adjustment to the configuration (with the gear and
by the cog band) of the drive module. Using the right gear, torque was increased and the
speed required was achieved.

5. A REMOTE GRAPHICAL UI (GUI); For the robotic system, a remote graphical UI

(GUI) has been created to allow the robot and Nde sensors and the data visualization to

EMB 3343 ELEMENTS OF MECHATRONICS DATE: 01/05/2020

 easily be controlled by end users. The Interface is built in the ROS environment and can
be remotely controlled by robot operators and field engineers in various modes via the
Interface: manual, semi-autonomous and completely independent.

6. GROUND PENETRATING RADAR (GPR): GPR is a geophysical tool using radar

pulses to image the underground and describe the situation. Ground Penetration Radar
(RPR). The survey involves the propagation of electromagnetic waves into the ground.
When artifacts or materials with different dielectric properties, such as bars or ducts, are
located, waves are reflected by an antenna that receives them.

7. IMPACT ECHO: In detecting discontinuities and thickness measurements of objects, the

echo effect method is applied. It is a seismic resonant method primarily for the detection
and characterization of delamination (horizontal cracking) in the bridge decks in relation
to the depth, spread and severity of the delamination. The divergence of the overlays on
bridge deck can also be observed.

8. ULTRASONIC SURFACE WAVES (USW): Using the USW method for the
calculation by its elastic modulus of concrete consistency. Low module is also associated
with deterioration or delamination of concrete. However, as a result of material variation
and concrete placing procedures, low module values in new decks are often observed.
Therefore, a phase of degradation can only be identified by periodic evaluation of the
concrete modulus

9. ELECTRICAL RESISTIVITY SENSOR: The sensor tests the concrete electrical

resistivity, which represents the corrosive bridge deck environment. The presence of
water, chlorides, salts and other contaminants decreases the resistivity of the concrete and
promotes corrosion on bridge decks. The corrosion rate of the reinforcing bars can be
measured with electrical resistivity calculation. To ensure a good relation between
resistivity electrodes

10. VISUAL DETECTION OF SURFACE CRACKS: Computer vision is an accurate and

powerful way of detecting and measuring surface sprays. The creation of a reliable and
effective vision-based crack detection and mapping device is a challenging task because

EMB 3343 ELEMENTS OF MECHATRONICS DATE: 01/05/2020

 of changes in the outdoor environment, such as lighting conditions and poorly-structuring
deck surface images. The robotic system built uses two front cameras to capture the
surface pictures for cracking / mapping and one panoramic 360-digit camera for capturing
the region under survey. A computer-controlled, extendable mast-mounted panoramic

11. EKF-BASED ROBOT LOCALIZATION; Two RTK GPS modules, one IMU and four
robotic Encoders are installed in the robotic system. Although the RTK GPS Device can
give an ideal and clear weather conditions of 2 cm position accuracy, for several reasons
the Navigation System cannot rely exclusively on GPS positioning data. First, under all-
weather conditions, GPS measurements are not accurate. In cloudy weather it has been
observed, RTK GPS data quality is dramatically declining. Second, some bridges were
partly fitted with steel, cables, etc., and GPS signals are not accurate and robust under
these conditions. The GPS data is fused with IMU and wheel encoder measures through
the EKF architecture to create an accurate, robust localization scheme.

EMB 3343 ELEMENTS OF MECHATRONICS DATE: 01/05/2020

 QUESTION 2:
MIU Sdn Bhd encountered difficulties in selecting sensors for chassis dynamometers
manufacturing. The sensor must attach to a chassis dynamometer in order to measure
torque on a car engine. Furthermore, the sensor will measure the spinning wheel and
convert it to torque. As a mechanical engineer, formulate the idea to solve this problem
by identifying a suitable type of sensor and explaining its principle in order to convince
MIU Sdn Bhd.

EMB 3343 ELEMENTS OF MECHATRONICS DATE: 01/05/2020

ANSWER 2:

INDUCTIVE PROXIMITY SENSOR

used for non-contact detection of metallic objects. Their operating principle is based on a coil
and oscillator that creates an electromagnetic field in the close surroundings of the sensing surface.
The presence of a metallic object (actuator) in the operating area causes a dampening of the
oscillation amplitude. The rise or fall of such oscillation is identified by a threshold circuit that
changes the output of the sensor. The operating distance of the sensor depends on the actuator's
shape and size and is strictly linked to the nature of the material

CAPACITIVE PROXIMITY SENSOR

sense "target" objects due to the target's ability to be electrically charged. Since even non-
conductors can hold charges, this means that just about any object can be detected with this type
of sensor. Inside the sensor is a circuit that uses the supplied DC power to generate AC, to measure
the current in the internal AC circuit and to switch the output circuit when the amount of AC
current changes. Unlike the inductive sensor, however, the AC does not drive a coil but instead
tries to charge a capacitor. Remember that capacitors can hold a charge because, when one plate
is charged positively, negative charges are attracted into the other plate, thus allowing even more
positive charges to be introduced into the first plate. Unless both plates are present and close to
each other, it is very difficult to cause either plate to take on very much charge. Only one of the
required two capacitor plates is actually built into the capacitive sensor! The AC can move current
into and out of this plate only if there is another plate nearby that can hold the opposite charge.
The target being sensed acts as the other plate. If this object is near enough to the face of the
capacitive sensor to be affected by the charge in the sensor's internal capacitor plate, it will
respond by becoming oppositely charged near the sensor, and the sensor will then be able to move
significant current into and out of its internal plate.

OPTICAL PROXIMITY SENSOR

Optical proximity sensors generally cost more than inductive proximity sensors, and about the
same as capacitive sensors. They are widely used in automated systems because they have been
available longer and because some can fit into small locations. These sensors are more commonly
known as light beam sensors of the thru-beam type or of the retro reflective type. Both sensor

EMB 3343 ELEMENTS OF MECHATRONICS DATE: 01/05/2020

types are shown below.A complete optical proximity sensor includes a light source, and a sensor
that detects the light. The light source is supplied because it is usually critical that the light be
"tailored" for the light sensor system. The light source generates light of a frequency that the light
sensor is best able to detect, and that is not likely to be generated by other nearby sources. Infra-
red light is used in most optical sensors. To make the light sensing system more foolproof, most
optical proximity sensor light sources pulse the infra-red light on and off at a fixed frequency.
The light sensor circuit is designed so that light that is not pulsing at this frequency is rejected.
The light sensor in the optical proximity sensor is typically a semiconductor device such as a
photodiode, which generates a small current when light energy strikes it, or more commonly a
phototransistor or a photo-darlington that allows current to flow if light strikes it. Early light
sensors used photoconductive materials that became better conductors, and thus allowed current
to pass, when light energy struck them. Sensor control circuitry is also required. The control
circuitry may have to match the pulsing frequency of the transmitter with the light sensor. Control
circuitry is also often used to switch the output circuit at a certain light level. Light beam sensors
that output voltage or current proportional to the received light level are also available.

A TORQUE SENSOR
Is a torque-measuring tool for rotary machine recording, such as motor, crankshaft, gearbox,
gearbox, rotor, bike crank or torque-cap check. Static torque can be calculated fairly easily. On
the other hand, dynamic torque is not simple to calculate because usually some effect (electric,
hydraulic or magnetic) from the shaft to a static device must be transferred. One way to do this is
to have a shaft or a part with permanent magnetic domains attached to the shaft. Depending on
the applied torque, the magnetic properties of these domains can thus be calculated using non-
contact sensors. These magnetoelastic torque sensors are commonly used on motorcycles,
motorcycles, aircraft and hovercraft in automobiles. Torque sensors or torque transducers are
usually mounted to stressed gauges on the moving axle or shaft. This procedure calls for a means
to power the pressure gage bridge, and for receiving the signal from the rotating shaft. You may
do this with slipper loops, wireless or rotary transformers. New torque transductors connect
conditioning electronics to a spinning shaft and an A / D converter. Stator electronics read digital
signals and transform them into a high-level analog output signal

EMB 3343 ELEMENTS OF MECHATRONICS DATE: 01/05/2020

OPINION

I personally believe the best solution for MIU sdn bhd is to focus on a torque sensor/torque
transducer as they have helped customers meet the most demanding automotive, aerospace,
r&d and process control testing and metrology specifications.as the name suggests, a
rotating torque sensor will undergo continuous rotation. This rotation may be continuous,
as you can find in a mixing vessel device measuring the torque of a stirrer or regularly
measuring the torque of an electrical screwdriver.it is necessary to consider the factors
involved in the torque generation and those that that alter the torque calculation, to
calculate the torque effectively, as they will influence the selection of suitable transducers.
The most significant criteria for the selection of torque sensors include such parameters as
nominal torque levels, rpm, the amount of space available for installation of the sensor,
measurement length and the context in which the measurements are carried out.the location
of the measurement is important to ensure that the real time is determined and false
measurements are avoided when measuring a dynamic torque, induced either by
neighboring components in the drive train or by damping the torque measuring device and
the measuring device itself. The physical and environmental factors typically decide the
equipment collection.the right selection for the transducer, transmission device and
mechanical link ensures that the measurement solution is no more expensive than required
and achieves optimum long-term precision and reliability.

REFERENCES

1. https://www.researchgate.net/profile/Marek_Stania/publication/235950779_Mechatronic
s_Systems_of_Autonomous_Transport_Vehicle/links/551a3ba30cf244e9a4585701.pdf

2. https://www.cl.cam.ac.uk/techreports/UCAM-CL-TR-741.pdf

3. http://real.mtak.hu/33474/1/Becsi_3534_3000543_z.pdf

EMB 3343 ELEMENTS OF MECHATRONICS DATE: 01/05/2020