Artificial Intelligent for

Mechanical Engineers

Tegoeh Tjahjowidodo

Mechatronics

Mechatronics is a methodology used for the

optimal design of electromechanical products

Mechatronic system is multidisciplinary, embodying four

fundamental disciplines:
electrical, mechanical, computer science, and information
technology

Tegoeh Tjahjowidodo

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 Contact

Prof. Dr. ir. Tegoeh Tjahjowidodo

Katholieke Universiteit Leuven
De Nayer (Sint-Katelijne-Waver) Campus
Jan Pieter de Nayerlaan 5
2860 Sint-Katelijne-Waver
Belgium

tegoeh.tjahjowidodo@kuleuven.be
tel. +32 15 68 81 43

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Textbook/ References

Reference Material
– Neural Networks, A Comprehensive Foundation, Simon
Haykin, 2nd edition, Prentice Hall
Chapter 1-4, 8
– Regression Analysis, Statistical Modelling of a
Response Variable, Rudolf J. Freund, William J. Wilson,
Ping Sa, Academic Press
Chapter 1-3
– Any text on machine learning…

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 Course Objectives

This course is intended to provide students

with an in depth understanding of the
fundamental learning theories, as well as
advanced issues of neural networks and fuzzy
logic systems.
After the course, the students will be able to
apply the learned knowledge to solve
problems in mechatronics fields

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Topics

1. Introduction
2. Principal Component Analysis
3. Independent Component Analysis
4. Regression
5. Bayesian Networks
6. Artificial Neural Networks
7. Probabilistic Neural Networks
8. Fuzzy Logic
9. Adaptive Neuro Fuzzy Inference System

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 Grading

Theory : Experiment = 65 : 35
Permanent evaluation, homework and report.

EXAM
Written online exam

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INTRODUCTION

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 Data Acquisition, Processing and Analysis

Mechatronics

Mechatronics is a methodology used for the

optimal design of electromechanical products

Mechatronic system is multidisciplinary, embodying four

fundamental disciplines:
electrical, mechanical, computer science, and information
technology

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 Mechatronics Key Elements

Mechatronics is the result of applying information systems

to physical systems.

It consists of mechanical, electrical, and computer systems

as well as actuators, sensors, and real-time interfacing.

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Mechatronics Applications
Condition Monitoring
The success of automation hinges primarily on the effectiveness of
monitoring and control systems.
e.g. an automated factory requires sensors at the production
system for compensating unexpected disturbances, any tolerance
changes in the work pieces, or other changes due to
product/process problems.

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 Mechatronics Applications

On-Line Monitoring
Continuous quality inspection of critical items in aerospace
industry and silicon devices in microelectronic fabrication are done
by on-line systems.

100% inspection ensures a quality standard for all products with

no sampling error.

By linking the process data and quality data, automatic fault

correction is achieved. Quality monitoring provides the industrial
plants with an ability to take quick corrective actions at the
problem source.

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Machining Process

manual
Conventional Finishing Cell

• Automated finishing but not

OK
Machining
Process Measurement
automated control strategy.
• Operator dependency still
Not OK exists.
• Manual measurement will
Rework
slow down the cycle

In-process sensing Finishing Cell

vibration
• Automated finishing with closed
force
loop strategy.
Machining acoustic
Process • Minimum operator dependency.
• Improved production cycle.

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Demo

Tegoeh Tjahjowidodo
US Patent: Tjahjowidodo, T., Barai, R.K., Pappachan, B.K. and Wijaya, T. (2018). Method and apparatus for
15 monitoring abrasive machining, US Application, US20180056480A1.

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Mechatronics Applications

Model-Based Manufacturing
Model-based monitoring systems generally use a set of modeling
equations and an estimation algorithm (such as a state observer)
to estimate the signal important to the machine performance.
In model-based monitoring, the purpose of the model is to
represent the behavior of the structure—also sensed externally
and recorded.

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 Mechatronics Monitoring Approaches
Process monitoring and condition monitoring

Key elements of monitoring:

1. Data acquisition
2. Feature representation and feature extraction
3. Feature selection
4. Classifier and Decision

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1. Data Acquisition
Definition
A process of collecting and storing data (information) from
targeted engineering assets for the purpose of condition
monitoring and diagnosis.

This process is essential step in implementing for

machinery fault diagnosis and prognosis.

The data is typically acquired from vibration, acoustic, oil

analysis, temperature, pressure, moisture, humidity,
weather, etc.

Sensors: accelerometer, proximity probe, AE, current

probe, ultrasonic sensor, flux sensor, voltage sensor, etc.
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 1. Data Acquisition
Selecting a Proper Measure
A measure is defined as a unit or standard of measurement
that provides a means for evaluating the data.

Absolute displacement is used for low-frequency of

structural, 0~20 Hz.
Relative shaft displacement is measured with a proximity
probe.
Velocity is defined as a time rate of change of
displacement upon both frequency and displacement and
it also related to fatigue.
It is good for span 10 Hz~1 kHz.
Acceleration is good for measure above 1 kHz that
relates to force and used for such high frequency
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vibration as gear mesh and bearing defects.
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1. Data Acquisition
Preprocessing
Describes any type of processing performed on raw data
to enhance the data’s reliability and, thereby, to improve
the accuracy of the signal analysis.
To analyze and interpret waveform data and then to
extract useful information for further diagnosis and
prognosis purpose
To remove distortion and restore the signal to its original
shape
To remove the irrelevant signal for diagnosis and
prediction
To transform the signal and extract the relevant feature
more explicit
Signal processing may also manipulate the signal that
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some characteristics enabling prognosis are more visible.
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 2. Feature Extraction
The aim is to find/quantify a simple and effective method
that transform original signals to the dominant features for
condition monitoring and fault diagnosis.
The features can be characteristic values (statistical),
colors, etc.
The features must contain and keep information at highest
level, so it can represent the machine condition.

Time Frequency
Domain Domain

Features

Cesptrum
Domain

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3. Feature Selection
Feature selection is for filtering irrelevant or redundant
features from your dataset. The key difference between
feature selection and extraction is that feature selection
keeps a subset of the original features while feature
extraction creates brand new ones.

TOOLS:
Principal component analysis (PCA) is a technique used
to emphasize variation and bring out strong patterns in a
dataset. It's often used to make data easy to explore and
visualize.
Independent component analysis (ICA) is a statistical
and computational technique for revealing hidden factors
that underlie sets of random variables, measurements, or
signals. ICA defines a generative model for the observed
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multivariate data
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 3. Feature Selection
Principal component analysis

type sedan sedan truck truck bus

color red red blue blue yellow

attribute plain sticker plain sticker plain

The vehicles are characterized by three features, i.e. type,

color and attribute.
But in this case, only two of them are needed to identify the
vehicle. type and color are redundant
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3. Feature Selection
Independent component analysis

The different sources are mixed when they are recorded by

two sensors.
How to separate them?
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 4. Classifier and Decision
Classification is the process of
predicting the class of given data
points. Classes are sometimes called
as targets/ labels or categories.
Classification predictive modelling is
the task of approximating a mapping
function (f) from input variables (x) to
discrete output variables (y).

Regression is the process of

finding a model or function for
distinguishing the data into
continuous real values instead of
using classes or discrete values. It
can also identify the distribution
movement depending on the
Tegoeh Tjahjowidodo historical data.

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 Matrix Revisited
Matrix can be simply seen as a transformation tool.
An n×m matrix can be viewed as a linear mapping from Rm to Rn.
A point in Rm is a vector (an m×1 dimensional matrix). Multiplying it
to the n×m transformation matrix will result in an n×1 dimensional
matrix, which is a point in Rn.

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Matrix Revisited

Special case: rotation matrix

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 Matrix Revisited

Special case: scaling matrix

𝛼 0
0 𝛽

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Matrix Revisited
Similarity Transformation

Consider an n×n matrix A, which maps Rn into itself. If we

select a set of basis Q = {q1, q2, …, qn}, then the matrix A
has a different representation Â, where:
AQ = QÂ

3 2  1 0  1  4 
Example: A   2 1 0  and Q  0 0 2 
 4 3 1  1 1  3

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 Matrix Revisited
Eigenvalues

Following the similarity transformation matrix property,

we can also define a set of basis:

1 0 0  0
0  0  0 
 2
ˆ  0 0
A 3  0  , in such AQ = QÂ
 
  where: Q  q1 q3  qn 
  q2
 0 0 0 0 n 
qi is vector

Therefore Aq1 = 1q1

Aq2 = 2q2
Aq3 = 3q3
…
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Matrix Revisited
Eigen problem

Physical representation of
Eigenvector:

a vector that responds to

the matrix as though that
the matrix were a scalar
coefficient.

…or eigenvectors are:

axes along which linear transformation acts, stretching
or compressing input vectors
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 Matrix Revisited
Eigen problem

Example. Find the eigenvalues and eigenvectors of:

5 4
A=
1 2

1
1 = 1; q1 = −1
AQ = QÂ
4
2 = 6; q2 = 1

A ⸱ Q = Q ⸱ Â

5 4 1 4 1 4 1 0
=
Tegoeh Tjahjowidodo 1 2 −1 1 −1 1 0 6
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