Engineering Creative Design in Robotics and Mechatronics

Preface

Robotics and Mechatronics successfully fuse (but are not limited to) mechanics, electrical, electronics, sensors and perception, informatics and intelligent systems, control systems and advanced modeling, optics, smart materials, actuators, systems engineering, artificial intelligence, intelligent computer control, precision engineering, virtual modeling, etc. into a unified framework that enhances the design of products and manufacturing processes. 

The synergy in engineering creative design and development enables a higher level of interdisciplinary research that leads to high quality performance, smart and high functionality, precision, robustness, power efficiency, application flexibility and modularity, improved quality and reliability, enhanced adaptability, intelligence, maintainability, better spatial integration of subsystems (embodied systems), miniaturization, embedded lifecycle design, sustainable development, and cost effective approach. The adoption of such a synergized inter- or trans-disciplinary approach to engineering design implies a greater understanding of the design process. 

While the technologies are advancing in different directions and there continues to be progressive evolution of interdisciplinary development in terms of research, education, and product development, there is continuous and growing interest in the fields of robotics and mechatronics. This book aims to capture the state-of-art research developments in the subject area of engineering creative design in robotics and mechatronics, and to provide relevant theoretical knowledge in the field, technological evolution, and new findings. This book includes 17 chapters, divided into four sections.

The first section covers chapters 1-6, which present robotics-mechatronics and biomimetics as an interdisciplinary engineering science. It covers topics on: “Silicon Micro-Robot with Neural Networks; “Gait Transition Control of a Biped Robot from Quadrupedal to Bipedal Locomotion Based on Central Pattern Generator, Phase Resetting, and Kinematic Synergy”; “Design for Information Processing in Living Neuronal Networks”; “Novel Swimming Mechanism for a Robotic Fish”; “Efficient Evolution of Modular Robot Control via Genetic Programming”; and “Awareness-Based Recommendation: Toward the Human Adaptive and Friendly Interactive Learning System.”

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The second section includes chapters 7-10. It introduces research topics related to advancement in robotics with main focus on control and stability, visual servoing, inferring intention, and sensors. The third section covers chapters 11-13. It focuses on teleoperation and associated research issues in different applications, such as: “Development and Simulation of an Adaptive Control System for the Teleoperation of Medical Robots“; “Design and Development of Teleoperation for Forest Machines: An Overview”; “Time Delay and Uncertainty Compensation: State-of-Art and with Case Studies.”

Chemical Vapor Deposition

Abstract

Hydrocarbon gas or carbon monoxide was pyrolyzed by chemical vapor deposition (CVD), and carbon nanofiber (CNF) synthesis was performed using transition metals such as Ni, Fe, and Co as catalysts. When synthesizing carbon nanofibers using the CVD method, experimental variables are temperature, catalysts, source gas, etc. Especially, the particle size of the catalyst is the most important factor in determining the diameter of carbon nanofibers. Hydrocarbon gases, such as CH4, C2H4, benzene, and toluene are used as the carbon source, and in addition to these reaction gases, nonreactive gases such as H2, Ar, and N2 gases are used for transportation. Synthesis occurs at a synthesis temperature of 600–900°C, and catalyst metals such as Ni, Co, and Fe are definitely required when synthesizing CNFs. Therefore, it is possible to synthesize CNFs in selective areas through selective deposition of such catalyst metals. In this study, CNFs were synthesized by CVD. Ethylene gas was employed as the carbon source for synthesis of CNFs with H2 as the promoting gas and N2 as the balancing gas. Synthesized CNFs can be used in various applications, such as composite materials, electromagnetic wave shielding materials, ultrathin display devices, carbon semiconductors, and anode materials of Li secondary batteries. In particular, there is an increasing demand for light-weight, small-scale, and high-capacity batteries for portable electronic devices, such as notebook computers or smartphones along with the recent issue of fossil energy depletion. Accordingly, CNFs and their silicon-series composites are receiving attention for use as anode materials for lithium secondary batteries that are eco-friendly, light weight, and high capacity.

1. Introduction

Chemical vapor deposition (CVD) is widely used as a surface treatment technology for materials. CVD forms a solid-state thin film mostly on the surface and is used not only to produce high-purity bulk materials and powder but also to manufacture composite materials through infiltration techniques. 

CVD is used to deposit a wide variety of materials. Most of the elements in the periodic table deposited in the pure element are formed by CVD technology. However, they are deposited mostly in the compound form rather than the pure element form. CVD can make precursor gases flow to one or more heated objects in a chamber to coat the desired compound. A chemical reaction occurs on the hot surface, and this leads to the deposition of a thin film on the surface. This reaction also produces the unreacted precursor gas and the chemical byproduct discharged from the chamber at the same time. 

CVD can deposit many kinds of materials and can be applied to broad areas, so the synthesis condition is also diverse. CVD synthesis can occur in a high- or low-temperature reactor, the pressure ranges from sub-Torr pressures to above-atmospheric pressures, regardless of the kind of catalyst, and the reaction temperature can range from 200 to 1600°C to diversify the synthesis condition.

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THE ANALYSIS AND DESIGN OF LINEAR CIRCUITS

PREFACE

CONTINUING FEATURES OBJECTIVES 

This text remains structured around a sequence of carefully defined cognitive learning objectives and related evaluation tools based on Bloom’s Taxonomy of Educational Objectives. The initial learning objectives focus on enabling skills at the knowledge, comprehension, and application levels of the taxonomy that we call ChapterLearningObjectives.Asstudentsdemonstratemasteryoftheselowerlevels, they are introduced to higher level objectives involving analysis, synthesis (design), and evaluation. Each learning objective is explicitly stated in terms of expected studentproficiencyinthehomeworksections,andeachisfollowedbyatleast 10homework problems specifically designed to evaluate student mastery of the objective. This framework has been a standard feature of all eight editions of this book and has allowed us to maintain a consistent level of expected student performance over the years. We also list our objectives in the chapter openers to orient the student to theexpectedoutcomes.Theseobjectivesmakeiteasiertoassessstudentlearningand prepare for accreditation reviews. To fulfill ABET Criterion 3: The program must have documented student outcomes that prepare graduates to attain the program educational objectives. And to fulfill Criterion 4: The program must regularly use appropriate, documented processes for assessing and evaluating the extent to which the student outcomes are being attained. The results of these evaluations must be systematically utilized as input for the continuous improvement of the program. Other available information may also be used to assist in the continuous improvement of the program. Read More Or Download

Every homework section ends with several integrating problems that test mastery of concepts that cover several objectives. These more in-depth problems test whether thestudentnotonlyhasmasteredindividualobjectivesbutalsowasabletointegrate knowledge across several objectives.

Digital Electronics 2

Preface

The omnipresence of electronic devices in everyday life is accompanied by the size reduction and the ever-increasing complexity of digital circuits. This comprehensive and easy-to-understand work deals with basic principles of digital electronics and allows the reader to grasp the subtleties of digital circuits from logic gates to finite-state machines. It presents all the aspects related to combinational logic and sequential logic. It introduces techniques to establish in a simple and concise manner logic equations, as well as methods for the analysis and design of digital circuits. Emphasis has been especially laid on design approaches that can be used to ensure a reliable operation of finite-state machines. Various programmable logic circuit structures and their applications are also presented. Each chapter includes practical examples and well-designed exercises with worked solutions.

This series of books discusses all the different aspects of digital electronics, following a descriptive approach combined with a gradual, detailed, and comprehensive presentation of basic concepts. The principles of combinational and sequentiallogicarepresented,aswellastheunderlyingtechniquesfortheanalysisand design of digital circuits. The analysis and design of digital circuits with increasing complexityisfacilitatedbytheuseofabstractionsatthecircuitandarchitecturelevels. This work consists of three volumes devoted to the following subjects: 

1) combinational logic circuits; 

2) sequential and arithmetic logic circuits; 

3) finite state machines.

A progressive approach has been chosen and the chapters are relatively independent of each other. To help master the subject matter and put into practice the different concepts and techniques, topics are complemented by a selection of exercises with solutions.

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Diesels Energy

Every year the rescue statistics published by the RNLI show that the most common cause of Lifeboat launches to pleasure craft is machinery failure. In the case of motor cruisers this does not come as any great surprise; one might expect loss of motive power to figure high in the list of problems. The fact that engine failure is also the most common cause of sailing cruiser rescues is less predictable and serves to confirm just how important it is to keep the engine in good running order. 

In response to these statistics, the RYA introduced a one-day course on diesel engine operation. The syllabus is, very broadly, the material covered in this book, although the depth into which it is possible to go in such a short course is inevitably rather limited. The aim of both the course and of this book is not to create instant diesel mechanics, but to provide boat owners with a better understanding of how their engines work and what they must do to keep them working. 

While it would be great if everyone could carry out all the servicing and repairs on their own engines, this is not a realistic proposition; few boat owners have the time to become skilled mechanics and not many boats carry the tools, spares and equipment to provide the full workshop support needed for complex repairs. 

What is achievable by every owner is an understanding of the importance of routine engine management, how to rectify the most common and relatively simple problems which occur and how to recognise the warning signs that an engine needs expert attention. 

Fortunately, most diesel engines are reliable and relatively trouble free in operation, so boat owners do not spend a high proportion of their time confronted by smoky exhausts, screeching temperature warning alarms or engines that obstinately refuse to start. Hence much of the knowledge acquired on a diesel engine course is seldom put into practice. This reinforces the need for a clear comprehensive reference book, both to back up the knowledge gained on a course and to provide a guide for those who prefer to teach themselves. Download Ebook

Basic Electrical Engineering (Third Edition)

Description:

This hallmark text on Basic Electrical Engineering provides concise and balanced account of all key concepts as well as applications in the field. With the liberal use of practical illustrations and numerous exercises, it offers an unparalleled exposure to Electricity Fundamentals, Network Theory, Electromagnetism, Electric Machines, Transformers, and Measuring Instruments. Table of contents Chapter 1. Elementary Concepts and Definitions Chapter 2. Fundamentals of Resistive Circuits Chapter 3. Fundamentals of Reactive Circuits Chapter 4. Steady State Analysis For Sinusoidal Excitation Chapter 5. Frequency Response Chapter 6. Three-Phase Circuits Chapter 7. Magnetic Circuits Chapter 8. Transformers Chapter 9. EMF and Torque in Electric Machines Chapter 10. DC Machines Chapter 11. Synchronous Machine Chapter 12. Induction Motor Chapter 13. Fractional-kW Motors Chapter 14. Measurement Techniques and Electric and Electronic Instrumentation Chapter 15. Power Systems Chapter 16. Domestic Wiring Printed Pages: 0. Bookseller Inventory # 21072
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UNDERSTAND HVAC SYSTEMS

What is a HVAC System? A HVAC system is a heating, ventilation, and air-conditioning system. A system that does any one (or more) of those tasks is called a HVAC system.

The objective of an HVAC system is to ensure that an indoor environment is both safe and comfortable for humans.  Safety here mainly concerns the Indoor Air Quality or IAQ, meaning that the indoor air should have enough oxygen and be free of noxious gases.  Comfort of course is based on human perception, which can vary within bounds.  ASHRAE (the American Society of Heating, Refridgeration, and Air-conditioning Engineers), defines comfortable air quality as one “with which a substantial majority (80% or more) of the people exposed do not express dissatisfaction.”

Although there are many ways in which to make an indoor space in a hot climate comfortable, we shall focus on the most common type of air-conditioning (AC) system found in buildings today.  Before we discuss that, a quick word.  Most AC systems work on one principle:  when a fluid is compressed, it “throws away” the heat it contains, and when it expands, it absorbs heat from its surroundings.  Therefore by alternately compressing and releasing a fluid, one can make it “absorb” heat from inside a building and release it outside.

Such a system has 3 components: a central plant, a distribution system, and a rejection unit.  The central plant, also called a chiller plant, contains the core of the system.  This is the part that actually compresses the fluid (called a refridgerant) in order to make it give off its heat.  The distribution system serves to distribute the “coolth” (the opposite of heat) generated by the chillers throughout the building, which must be transferred to the air inside the building.  Since it is difficult to move all the air in the building to the central plant, an AC designer will usually transfer the coolth to another fluid, such as water, which is then circulated to a unit on every floor that in turn cools the air.  Such a device is called an Air Handling Unit or AHU.  It takes cold water from the chiller plant and cools the air coming into it.  It essentially consists of a large fan and a heat exchanger, through which the cold water passes on its coolth to the air.  Cold water is pumped to AHUs throughout the building through a well-insulated pipe.

The distribution system therefore either distributes coolth or collects heat from throughout the building—two different ways of phrasing the same thing—and passes the heat on to the chiller.  The chiller must then reject, or pass on this heat to the external atmosphere.  This work is done by the rejection unit.  These are of two types, air-cooled and water-cooled systems.  Air-cooled systems pass the heat directly to the air; the chillers must therefore be located on the terrace or in a place where a large quantity of air can be passed through to extract all the heat.  In a water-cooled system, the heat from the chiller is transferred to a quantity of water, which then is taken to the roof of the building, where a cooling tower transfers the heat to the atmosphere.  An air-cooled system consumes more energy but no water; a water-cooled consumes a fair quantity of water, but less energy, and is also quieter.  Therefore use a water-cooled system wherever possible.  It is also possible to use the water from a sewage treatment plant in a water-cooled system.

WHEN DESIGNING AN HVAC SYSTEM, REMEMBER THAT...

When you design an HVAC system, remember that:

All AHU rooms must have a floor drain, as condensation from the air will collect in the unit.

One should provide fresh air to every AHU.

Split Units do not provide any fresh air; they must be used only when one is certain that the doors to the space will be opened frequently.

All AHU rooms and fan rooms will be at negative pressure, so the doors leading to them must open outwards and be airtight.

Any rooms with foul air should be provided with extraction, so that they remain at negative pressure. This will prevent the foul air from drifting out to any other space.  Kitchens and toilets are an example.

In an office it is a good idea to provide standalone AC units for conference rooms and executive cabins.  These can be used by people working late or on weekends, when the main AC system is off.

UNDERSTAND PLUMBING SYSTEMS

A plumbing system serves two purposes: to supply water for human use, and to get rid of human wastes.  It consists of a store of water that is delivered to various outlets via a distribution system.

All Indian plumbing systems have an underground tank.  This collects water from the municipal supply line, which is normally delivered at low pressure, and therefore cannot push water to the height of an overhead tank.  The most basic decision in a plumbing system is whether to provide an overhead tank or not.  Traditionally, the underground tank is connected to an overhead tank via a pump and a supply line; the water flows from there to any tap or outlet by gravity.  The height of the water column above the outlet, known as head, supplies the required pressure in the outlet.  The overhead tank can be eliminated, however, by the use of a pump that pumps the water directly from the underground tank to all outlets.  Such a pump should be able to continuously supply the line with pressure, so that whenever one opens a tap, water gushes out.

Such pumps are available these days; they are called hydro-pneumatic systems.  They consist of a smallish steel tank, divided into two compartments by a rubber membrane.  One contains water, the other air.  A pump periodically switches on and pumps water into the wet side; this causes the membrane to expand, and compresses the trapped air on the other side.  The water on the wet side is thus under pressure; it is connected to the water supply line, which in turn gets pressurized.  Whenever someone opens a tap, water flows out, and the pressure in the hydro-pneumatic tank drops, which causes the pump to be switched on again, thereby maintaining pressure in the line while supplying the required quantity of water to the outlets.

Such systems have several advantages.  One, they eliminate the need for heavy water tanks on the tops of buildings.  Two, one can design them to supply water at any pressure one desires, unlike a traditional system, where the pressure is determined only by the height difference (or head) between the tank and the outlet, and where people on the top floors get low pressure and people on the ground very high pressure.  Three, in theory, they consume less energy than a traditional system, because if one has an overhead tank, even the water that goes to the person on the ground or first floor has to first be pumped up say ten stories high before coming back down.  However a hydro-pneumatic system has a disadvantage: no power, no water.

Therefore, if the power supply is good and backup power is available, use a hydro-pneumatic system, else provide overhead tanks.

Pumps may be of submersible or open type.  Submersible pumps are placed inside the water tank (at the bottom) and require little maintenance.  Either type of pump may be used in traditional or hydro-pneumatic systems.

There are a range of choices for the distribution network of pipes; GI, CPVC (chlorinated PVC), HDPE (high-density polyethylene), and copper.  These days plastic (CPVC, HDPE) pipes are preferred to others because they do not rust, are light and easy to install, and inexpensive.

In a very tall building, floors should be divided into zones of perhaps 15-20 floors.  Each of these will have its own pumping system.  This serves to eliminate the very high pressures that result from high water heads, and also reduces pipe and pump sizes.  Remember that centralized hot water boilers are placed at the bottom as hot water rises by itself.

The other aspect of plumbing is drainage, which is of two types.  Waste water is from showers, basins, kitchen sinks, washing machines, and the like.   This is also called greywater.  Soil water or sewage is from WCs and urinals.  This is also called blackwater.  Normally a minimum of 100mm dia pipes are used for soil water and 75mm for waste water.  When run horizontally, soil water pipes should be run at a steeper slope, such as 1:40, as they have solids.  These can be of cast iron, or, of late, of PVC.

A grease trap should be used when draining waste from large kitchens or massage parlours; grease should not be allowed to enter the normal drainage system.  A grease trap is nothing but a small inspection chamber.   The grease floats, and should be removed manually on a daily basis.  The inlets and outlets into this chamber should be designed in a way that minimises disturbance of the floating grease layer.

Stone ware (ceramic) pipes are used when soil and waste water is to be transported in external soil.  An inspection chamber is used to clean blockages in the line and change direction.  A manhole is a larger version of an inspection chamber, used in the main drainage line or in the street.

If municipal drainage is not available on a small project, provide aseptic tank and a soak pit.  A septic tank is a rectangular underground tank with compartments.  It is always full of sewage.  Solids are allowed to sink to the bottom, where they break down by the process of anaerobic decomposition, and eventually form a sludge that should be removed manually after several years.  The less water put into a septic tank, the better it will function.  This process is termed primary treatment.  The effluent that flows out of this, which is about 70% purified, is then put into a soak pit.  A soak pit is a cylindrical tank with porous brick walls surrounded by a layer of gravel.  The effluent will therefore enter this and soak into the soil via the holes in the walls and the gravel, which acts both as a filter and as a device for bacterial decomposition.  A soak pit should not be placed near any occupied structure, water body, or water supply pipe.  It also cannot be used where the water table is high, as groundwater will then enter and flood the pit through the porous walls.

A sewage treatment plant is recommended for the disposal of large amounts of sewage.  This is a plant that will process sewage and produce sludge and (relatively) clean water from it.  This water may then be used for landscaping, or even perhaps for HVAC cooling towers – not for drinking  or washing.  If one has to dispose of quantities of water containing chemical contaminants, an effluent treatment plant is the answer.

When you design a plumbing system, remember the following:

Underground tanks: as mentioned earlier, water must flow from the municipal supply first to the firefighting tanks and then to the domestic water tanks to prevent stagnation.  The firefighting tanks should remain full at all times.  If one does not have overhead tanks, the domestic water stored underground should be segregated into two tanks, so that when it is cleaned (every 6 months) the water in the other tank can be used.  However the two compartments should be connected by a valve at the bottom.  This valve should be closed when one tank is cleaned.

Underground tanks should be designed for two days’ storage if possible.

On-ground tanks may be used instead of underground if the soil is good.  This reduces construction costs as well as the pumping head.

There are essentially two different types of pumps one may use:submersible pumps, which are designed to be placed inside the water in the tank, and conventional centrifugal pumps, which should be placed in the pump room.

If using conventional pumps, the outlet from each tank to the pumps should be placed in a sump; if no sump is provided and the outlet is placed say 150mm above the tank bottom, then a 150mm high pool of water will remain in the tank.  Whenever the tanks are to be cleaned, a de-watering pump will have to be brought in to remove this water.

If using submersible pumps, provide a deep sump (at least 600mm), as these pumps are normally installed vertically, and the water inlet is in the middle of the pump and not at the bottom.  The pump should be supported only by the delivery pipe, which is bolted to a flange attached to a sleeve in the roof of the tank.  If the pump is to be removed for maintenance, this arrangement allows the bolts to be undone, allowing one to easily lift the pump out of the tank without draining the water.  For this purpose a manhole must be placed next to the delivery pipe.  Such pumps must not be mounted on the floor of the tank because the fixing bolts will puncture the waterproofing layer of the tank.

Overhead tanks: some municipalities, such as the BMC, require that flushing water be segregated from the other water in overhead tanks.  There is no technical reason for this.

These days automatic sensors that start and stop the pumps when the overhead tanks are full or empty are cheap and reliable.

All pump rooms should without fail have an arrangement for floor drainage; pumps always leak.  The best way to do this is to slope the floor towards a sump, and install a de-watering pump if the water cannot flow out by gravity.

When you attach any water pipes to the side of a building, make sure to keep a gap of at least 50mm between the pipe and the face of the building, so that any leakages do not affect or seep into the plaster.  Also use non-corroding screws (and clamps) like brass or SS to attach the pipes to the building.

It is possible to have a common tank for firefighting and domestic water.  In this case the outlets for the domestic water must be placed at a sufficiently high level as to leave the correct volume of water for firefighting.  Pump rooms for firefighting and plumbing may be combined in any case.

UNDERSTAND FIRE ALARM SYSTEMS

A fire alarm system is distinct from a firefighting system in that it has no connection to the firefighting system; its purpose is to inform all humans in the building that there is a fire via an audible alarm, so that they may evacuate the building.  To phrase this differently, the firefighting system is not switched on by the fire alarm system; the two are independent.  It is mandatory for every building other than small residences to have a firefighting system; a fire alarm system is required only in important and public buildings (as per Indian Codes in 2008).  However it is better to provide it.

A fire alarm system consists of fire sensors, such as smoke and heat detectors, located throughout the building, connected to a main alarm panel by special cables.  The panel is in turn connected to a set of hooters or speakers that give an audible alarm throughout the building and its surrounding areas.

In most areas smoke detectors are used to sense fires; they cannot be used in areas like kitchens where smoke is usually present.  In such areas heat detectors (which actually detect a sudden increase in heat) are used.  Devices such as a manual call point (a small button placed near exits that can be pressed by anyone who realizes that there is a fire) and a response indicator (a small red light that is placed outside a door; this lights if the smoke detector inside has been activated in order to tell the firefighters the location of the fire) are also used.

The main alarm panel should ideally be placed in a 24-hour control room or security room.  The panel will indicate the location of the fire to the persons manning it so that they can coordinate the evacuation process.  In case the main panel is kept elsewhere, a repeater panel can be placed in a security room.