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An Integrated Approach towards Model-Based Mechatronic Design
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics. (Mechatronics)
2011 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

Mechatronic design is an enigma. On the one hand, mechatronic products promise enhanced functionality, and better performance at reduced cost. On the other hand, optimizing mechatronic design concepts is a major challenge to overcome during the design process. In the past, less attention has been paid to the life phases of a mechatronic product, and it was assumed that modifications in electronics and software will ensure that the product performs to expectation throughout its life time. However it has been realized that introducing design changes in mechatronics is not easy, since it is difficult to assess the consequences of a design decision, both during the design process of a new product, and during a design modification. It is also realized that there is a strong need to consider the product's life phases during the early phases of product development. Furthermore, it is rather difficult to perform a design optimization since it requires introducing changes across different domains, which is not well supported by the methods and tools available today.

This thesis investigates the topic of mechatronic design and attacks some of the major challenges that have been identified regarding the design of mechatronic products. The goal is to provide support to the designers to facilitate better understanding of the consequences of their design choices as early as possible. The work also aims to provide support for assessing alternative design concepts, and for optimizing a design concept based on requirements, constraints and designer preferences at the time of design. The thesis highlights three main challenges related to mechatronic product development: the need for a common language during conceptual design; the inadequate information transfer between engineering domains; and the difficulty in assessing the properties of competing mechatronic concepts. A model-based integration approach is presented, and these key challenges are considered in relation to an integrated modeling and design infrastructure. The approach is illustrated through the design of two mechatronic systems- a two degrees-of-freedom robot, and a hospital bed propulsion system. Initial results provide evidence of good potential for information transfer across mechatronic domains. Although SysML was used for the case studies, some important questions were raised about its suitability as a common language for mechatronics.

Suggestions for future work are: to utilize the developed infrastructure and incorporate a capability to model and assess consequences of competing design concepts; provide support for optimizing these concepts; and evaluate the usefulness of the developed infrastructure in a real-world design setting. These efforts should provide ample information to the designer for making adequate decisions during the design process.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology , 2011. , xiii, 94 p.
Series
Trita-MMK, ISSN 1400-1179 ; 2011:08
Keyword [en]
Mechatronics, mechatronic design, development process, conceptual design, model-based systems engineering (MBSE), model integration, SysML, model-driven engineering, consistency
National Category
Production Engineering, Human Work Science and Ergonomics Software Engineering Information Science
Identifiers
URN: urn:nbn:se:kth:diva-35374ISBN: 978-91-7501-025-0 (print)OAI: oai:DiVA.org:kth-35374DiVA: diva2:427680
Presentation
2011-06-08, B319 Gladan, Brinellvägen 85, KTH, Stockholm, 13:00 (English)
Opponent
Supervisors
Note
QC 20110629Available from: 2011-06-29 Created: 2011-06-28 Last updated: 2011-06-29Bibliographically approved
List of papers
1. Mechatronic Design: Still A Considerable Challenge
Open this publication in new window or tab >>Mechatronic Design: Still A Considerable Challenge
Show others...
2011 (English)In: Proceedings of the ASME Design Engineering Technical Conference, ASME , 2011, 33-44 p.Conference paper, Published paper (Refereed)
Abstract [en]

Development of mechatronic products is traditionally carried out by several design experts from different design domains. Performing development of mechatronic products is thus greatly challenging. In order to tackle this, the critical challenges in mechatronics have to be well understood and well supported through applicable methods and tools. This paper aims at identifying the major challenges, by conducting a survey of the most relevant research work in mechatronic design. Solutions proposed in literature are assessed and illustrated through a case study in order to investigate, if the challenges can be handled appropriately by the methods, tools, and mindsets suggested by the mechatronic community. Using a real world mechatronics case, the paper identifies the areas where further research is required, by showing a clear connection between the actual problems faced during the design task, and the nature of the solutions currently available. From the results obtained from this research, one can conclude that although various attempts have been developed to support conceptual design of mechatronics, these attempts are still not sufficient to help in assessing the consequences of selecting between alternative conceptual solutions across multiple domains. We believe that a common language is essential in developing mechatronics, and should be evaluated based on: its capability to represent the desired views effectively, its potential to be understood by engineers from the various domains, and its effect on the efficiency of the development process.

Place, publisher, year, edition, pages
ASME, 2011
Series
Proceedings of the ASME Design Engineering Technical Conference, Vol. 9
Keyword
Mechatronics, Mechatronic Design, Product Development, Model Integration, Survey, Challenges
National Category
Engineering and Technology
Identifiers
urn:nbn:se:kth:diva-35029 (URN)10.1115/DETC2011-48306 (DOI)000324350600004 ()2-s2.0-84863585701 (Scopus ID)978-079185486-0 (ISBN)
Conference
ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2011; Washington, DC, United States, 28-31 August, 2011
Note

QC 20110622

Available from: 2011-06-22 Created: 2011-06-17 Last updated: 2014-10-03Bibliographically approved
2. Designing Mechatronic Systems: A Model Integration Approach
Open this publication in new window or tab >>Designing Mechatronic Systems: A Model Integration Approach
2011 (English)In: International Conference on Engineering Desgin ICED2011, Copenhagen, Denmark, 2011, 145-156 p.Conference paper, Published paper (Refereed)
Abstract [en]

Development of mechatronic products requires different types of design models in order to support both domain-independent specifications and domain-specific principles. This research aims to find out how system-level modeling can support mechatronic design, and how the integration of system-level modeling and domain-specific modeling can be supported during different design phases. A design example of a hospital bed’s propulsion system is presented to show firstly the relationship between conceptual design and system-level modeling, and secondly the need for integration of system level and domain specific design models. An integrated modeling and design infrastructure is proposed to support abstraction between mechatronic design models, hence supporting co-evolution of design models. The paper concludes that a mechatronic design problem can be better supported through such an integrated design approach. However, usability of this approach needs to be further supported by more case studies in the future.

Place, publisher, year, edition, pages
Copenhagen, Denmark: , 2011
Series
International Conference on Engineering Design, ISSN 2220-4334 ; 4
Keyword
Mechatronics, System design, Design Infrastructure, Model Integration
National Category
Other Engineering and Technologies not elsewhere specified
Identifiers
urn:nbn:se:kth:diva-34318 (URN)000320285700014 ()2-s2.0-84858803407 (Scopus ID)978-1-904670-24-7 (ISBN)
Conference
International Conference on Engineering Desgin
Projects
Integrated Design of Mechatronic Systems
Note

QC 20110615

Available from: 2011-06-15 Created: 2011-06-01 Last updated: 2014-01-09Bibliographically approved
3. A Mechatronic Design Infrastructure Integrating Heterogeneous Models
Open this publication in new window or tab >>A Mechatronic Design Infrastructure Integrating Heterogeneous Models
2011 (English)In: 2011 IEEE International Conference on Mechatronics (ICM 2011), Istanbul, Turkey: IEEE , 2011, 212-217 p.Conference paper, Published paper (Refereed)
Abstract [en]

Mechatronic system design is contemplated extensivelythrough model-based approaches. To reflect the multidomainintegration inside a mechatronic system during the designprocess, integration approaches targeting heterogeneous modelsare essential. An infrastructure supporting the design of multidomainsystems is presented. The dependencies between thedomain-specific models are managed by utilizing SysML as acommon system modeling language between those models. Amodel integration framework supports model transformationsbetween the system-model and the domain-specific models byutilizing Eclipse Modeling Framework. Structural and parametertype dependencies between different domain-models are handledto provide consistency between different views. This provides anability to traverse between different views of the system, as wellas maintaining consistency between those views. A case study on arobot system is presented to explain the integration of mechanicaldesign model in Solid Edge, and dynamic analysis model inSimulink/SimMechanics through a SysML system model, all underthe proposed design infrastructure. The approach is scalabletowards other modeling formalisms by building new relationsthrough the SysML model. This will support: co-evolution ofdomain-specific models, a better design of multi-domain systems,reduction in modeling in-consistencies, and a reduction in designtime.

Place, publisher, year, edition, pages
Istanbul, Turkey: IEEE, 2011
Keyword
Design infrastructure, Mechatronics, SysML, Design Methodology, Model Integration
National Category
Other Engineering and Technologies not elsewhere specified
Identifiers
urn:nbn:se:kth:diva-34317 (URN)10.1109/ICMECH.2011.5971283 (DOI)2-s2.0-80052179543 (Scopus ID)978-161284983-6 (ISBN)
Conference
2011 IEEE International Conference on Mechatronics, ICM 2011; Istanbul; Turkey; 13-15 April 2011
Projects
Integrated Design of Mechatronic Systems
Note

QC 20140916

Available from: 2011-06-15 Created: 2011-06-01 Last updated: 2014-09-16Bibliographically approved
4. Integrating Multi-Domain Models for the Design and Development of Mechatronic Systems
Open this publication in new window or tab >>Integrating Multi-Domain Models for the Design and Development of Mechatronic Systems
2010 (English)In: 7th European Systems Engineering Conference EuSEC 2010, Stockholm, Sweden, Stockholm, Sweden: INCOSE , 2010Conference paper, Published paper (Refereed)
Abstract [en]

Design of mechatronic systems is driven by engineering efforts in multiple-domains, resulting in models developed in various formalisms. In spite of interconnections between these domains, approaches linking them theoretically are lacking. This lack of integration leads to major challenges in solving dependencies across different domains, slowing down the design process. In this paper, a model-level integration-framework is described, aiming to identify and solve dependencies across different domains during the design process of a mechatronic system. A two-degree of freedom robot example is presented, to exemplify the iterative process of design optimisation in a computer aided design tool (Solid Edge), connected with corresponding dynamic analysis and controller design in Matlab/Simulink. A system model built in systems modelling language (SysML) is extended to capture the cross- domain dependencies as parameters in a black-box model. These black-box models can be systematically linked with other domains (CAD and dynamic analysis) through the model integration algorithm (based on the robot example). As the modellers perform the design iterations in Matlab/Simulink and Solid Edge, the updates on cross-domain dependencies will be available through SysML model, containing the complete system view. Possible issues with un-identified dependencies (due to change in requirements), and their possible solutions are also discussed. It is emphasized that the robot example could be generalized towards mechatronic systems, along with the requirement specifications for the model-integration algorithm. It is demonstrated that efficient design solutions and reduction in design time are possible with concurrent multi-domain models integration.

Place, publisher, year, edition, pages
Stockholm, Sweden: INCOSE, 2010
Keyword
MBSE, SysML, model integration, mechatronics
National Category
Information Science
Identifiers
urn:nbn:se:kth:diva-34313 (URN)
Conference
7th European Systems Engineering Conference EuSEC 2010
Projects
Integrated Design of Mechatronic Systems
Note
QC 20110615Available from: 2011-06-15 Created: 2011-06-01 Last updated: 2013-03-18Bibliographically approved
5. Designing Mechatronic Systems, a Model-based Perspective, an Attempt to Achieve SysML-Matlab/Simulink Model Integration
Open this publication in new window or tab >>Designing Mechatronic Systems, a Model-based Perspective, an Attempt to Achieve SysML-Matlab/Simulink Model Integration
2009 (English)In: 2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, NEW YORK: IEEE , 2009, 1299-1304 p.Conference paper, Published paper (Refereed)
Abstract [en]

Higher demands on efficiency, cost and functionality have contributed a great deal towards the advent of Mechatronic systems where mechanics, electronics and computer software integrate together to provide the required functionality. This integration has its effects in the design process as well, and a good design requires careful integration of methods and tools to satisfy the overlapping objectives. The set of requirements a designer needs to satisfy for a good design are in all three domains, hence various design and modelling tools are used by engineers to satisfy these multi-domain requirements. With the advent of systems modelling languages for specifying the complete system in one system model, there is an increased urge to link the system modelling tools to the domain specific tools such as Matlab/Simulink. In this paper we present an attempt to achieve an integrated design environment by building mapping between SysML and Matlab/Simulink models. The complexities that can be solved using SysML and the ones which necessitate a communication between SysML and other tools are discussed. Models of an industrial pattern generator are presented to explain the practical influence of this integration approach. The resulting integrated model is more comprehensive for the designer when investigating various design alternatives. This is important for companies considering they have to consistently embed innovation and sustainability in their products.

Place, publisher, year, edition, pages
NEW YORK: IEEE, 2009
Keyword
MBSE, SysML, Model Integration
National Category
Engineering and Technology
Identifiers
urn:nbn:se:kth:diva-29864 (URN)10.1109/AIM.2009.5229869 (DOI)000277062800221 ()2-s2.0-70350436113 (Scopus ID)978-1-4244-2852-6 (ISBN)
Conference
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Singapore, SINGAPORE, JUL 14-17, 2009
Note
QC 20110222Available from: 2011-02-22 Created: 2011-02-17 Last updated: 2013-03-18Bibliographically approved

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Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
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More styles
Language
  • de-DE
  • en-GB
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  • nn-NO
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More languages
Output format
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