Bichop R.H. (Ed.) Mechatronic Systems, Sensors, and Actuators: Fundamentals and Modeling
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Acknowledgments
I wish to express my heartfelt thanks to all the contributing authors. Taking time from otherwise busy
and hectic schedules to author the excellent chapters appearing in this book is much appreciated.
This handbook is a result of a collaborative effort expertly managed by CRC Press. My thanks to the
editorial and production staff:
Nora Konopka Acquisitions Editor
Theresa Delforn Project Coordinator
Joette Lynch Project Editor
Thanks to my friend and collaborator Professor Richard C. Dorf for his continued support and
guidance. And finally, a special thanks to Lynda Bishop for managing the incoming and outgoing draft
manuscripts. Her organizational skills were invaluable to this project.
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Editor
Robert H. Bishop
is a professor of aerospace engineering
and engineering mechanics at The University of Texas at
Austin and holds the Joe J. King Professorship. He received
his BS and MS from Texas A&M University in aerospace
engineering, and his Ph.D. from Rice University in electri-
cal and computer engineering. Prior to coming to The
University of Texas at Austin, he was a member of the
technical staff at the MIT Charles Stark Draper Laboratory.
Dr. Bishop is a specialist in the area of planetary explora-
tion with emphasis on spacecraft guidance, navigation and
control. He is a fellow of the American Institute of Aero-
nautics and Astronautics. Currently, Dr. Bishop is cur-
rently working with the NASA Johnson Space Center on
techniques for achieving precision landing on the moon
and Mars. He is an active researcher authoring and co-authoring over 100 journal and conference papers.
He was twice selected a faculty fellow at the NASA Jet Propulsion Laboratory and as a Welliver faculty
fellow by The Boeing Company. Dr. Bishop co-authors
Modern Control Systems
with Professor R. C. Dorf,
and he has authored two other books entitled
Learning with LabView
and
Modern Control System Design
and Analysis Using Matlab and Simulink
. He received the John Leland Atwood Award by the American
Society of Engineering Educators and the American Institute of Aeronautics and Astronautics that is
given periodically to “a leader who has made lasting and significant contributions to aerospace engineering
education.” Dr. Bishop is a member of the Academy of Distinguished Teachers at The University of Texas
at Austin.
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List of Contributors
Raghavendra Angara
Department of Mechanical
Engineering
University of Maryland
Baltimore County
Baltimore, Maryland
M. Anjanappa
Department of Mechanical
Engineering
University of Maryland
Baltimore County
Baltimore, Maryland
Habil Ramutis Bansevicius
Department of Mechatronics
Kaunas University of Technology
Kaunas, Lithuania
Eric J. Barth
Department of Mechanical
Engineering
Vanderbilt University
Nashville, Tennessee
Robert H. Bishop
Department of Aerospace
Engineering and Engineering
Mechanics
The University of Texas at
Austin
Austin, Texas
Peter C. Breedveld
Department of Electrical
Engineering and Control
Engineering
University of Twente
Enschede, The Netherlands
George T.-C. Chiu
Department of Mechanical
Engineering
Purdue University
West Lafayette, Indiana
K. Datta
Department of Mechanical
Engineering
University of Maryland
Baltimore County
Baltimore, Maryland
Ivan Dolezal
Technical University of Liberec
Liberec, Czech Republic
M. A. Elbestawi
Department of Mechanical
Engineering
McMaster University
Hamilton, Ontario, Canada
Eniko T. Enikov
Aerospace and Mechanical
Engineering
University of Arizona
Tucson, Arizona
Halit Eren
Curtin University of Technology
Perth, West Australia
H. R. (Bart) Everett
Space and Naval Warfare
Systems Center
San Diego, California
Jeannie Sullivan Falcon
Senior Marketing Engineer
National Instruments, Inc.
Austin, Texas
Jorge Fernando Figueroa
NASA Stennis Space Center
Bay Saint Louis, Mississippi
Charles J. Fraser
University of Abertay
Dundee
Scotland, United Kingdom
Ivan J. Garshelis
Magnova, Inc.
Pittsfield, Massachusetts
Carroll E. Goering
Department of Agricultural
and Biological
Engineering
University of Illinois
Urbana, Illinois
Michael Goldfarb
Department of Mechanical
Engineering
Vanderbilt University
Nashville, Tennessee
Martin Grimheden
Department of Machine
Design
Royal Institute of Technology
Stockholms, Sweden
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Neville Hogan
Department of Mechanical
Engineering
Massachusetts Institute of
Technology
Cambridge, Massachusetts
Rick Homkes
Department of Computer and
Information Technology
Purdue University
West Lafayette, Indiana
Bouvard Hosticka
Department of Mechanical,
Aerospace, and Nuclear
Engineering
School of Engineering and
Applied Sciences
University of Virginia
Charlottesville, Virginia
Stanley S. Ipson
Department of Cybernetics and
Virtual Systems
University of Bradford
Bradford, United Kingdom
Rolf Isermann
Laboratory for Control
Engineering and Process
Automation
Institute of Automatic Control
Darmstadt University of
Technology
Darmstadt, Germany
S. Li
Department of Mechanical
Engineering
University of Maryland
Baltimore County
Baltimore, Maryland
Chang Liu
Micro and Nanotechnology
Laboratory
University of Illinois
Urbana, Illinois
Michael A. Lombardi
National Institute of Standards
and Technology
Boulder, Colorado
Raul G. Longoria
Department of Mechanical
Engineering
The University of Texas at Austin
Austin, Texas
Kevin M. Lynch
Department Mechanical
Engineering
Northwestern University
Evanston, Illinois
Sergey Edward Lyshevski
Department of Electrical
Engineering
University of Rochester
Rochester, New York
Francis C. Moon
Cornell University
Ithaca, New York
Michael J. Moran
The Ohio State University
Columbus, Ohio
Dinesh Nair
The University of Texas at Austin
Austin, Texas
Pamela M. Norris
Department of Mechanical,
Aerospace, and Nuclear
Engineering
University of Virginia
Charlottesville, Virginia
Ondrej Novak
Technical University of Liberec
Liberec, Czech Republic
Joey Parker
Department of Mechanical
Engineering
University of Alabama
Tuscaloosa, Alabama
Stefano Pastorelli
Department of Mechanics
Politecnico di Torino
Torino, Italy
Michael A. Peshkin
Department of Mechanical
Engineering
Northwestern University
Evanston, Illinois
Carla Purdy
ECECS Department
University of Cincinnati
Cincinnati, Ohio
M. K. Ramasubramanian
Department of Mechanical and
Aerospace Engineering
North Carolina State University
Raleigh, North Carolina
Giorgio Rizzoni
The Ohio State University
Columbus, Ohio
T. Song
Department of Mechanical
Engineering
University of Maryland
Baltimore County
Baltimore, Maryland
Massimo Sorli
Department of Mechanics
Politecnico di Torino
Torino, Italy
Alvin M. Strauss
Department of Mechanical
Engineering
Vanderbilt University
Nashville, Tennessee
Richard Thorn
School of Engineering
University of Derby
Derby, United Kingdom
Rymantas Tadas Tolocka
Department of Engineering
Mechanics
Kaunas University of Technology
Kaunas, Lithuania
Nicolas Vasquez
The University of Texas at Austin
Austin, Texas
Qin Zhang
Department of Agricultural and
Biological Engineering
University of Illinois
Urbana, Illinois
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Contents
SECTION I Overview of Mechatronics
1 What Is Mechatronics?
Robert H. Bishop and M. K. Ramasubramanian . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
2 Mechatronic Design Approach
Rolf Isermann . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
3 System Interfacing, Instrumentation, and Control Systems
Rick Homkes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
4 Microprocessor-Based Controllers and Microelectronics
Ondrej Novak and Ivan Dolezal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
5 An Introduction to Micro- and Nanotechnology
Michael Goldfarb, Alvin M. Strauss, and Eric J. Barth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
6 Mechatronics Engineering Curriculum Design
Martin Grimheden . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1
SECTION II Physical System Modeling
7 Modeling Electromechanical Systems
Francis C. Moon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
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8 Structures and Materials
Eniko T. Enikov . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1
9 Modeling of Mechanical Systems for Mechatronics Applications
Raul G. Longoria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
10 Fluid Power Systems
Qin Zhang and Carroll E. Goering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1
11 Electrical Engineering
Giorgio Rizzoni . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-1
12 Engineering Thermodynamics
Michael J. Moran . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-1
13 Numerical Simulation
Jeannie Sullivan Falcon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13-1
14 Modeling and Simulation for MEMS
Carla Purdy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14-1
15 Rotational and Translational Microelectromechanical Systems: MEMS
Synthesis, Microfabrication, Analysis, and Optimization
Sergey Edward Lyshevski . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15-1
16 The Physical Basis of Analogies in Physical System Models
Neville Hogan and Peter C. Breedveld. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16-1
SECTION III Mechatronic Sensors and Actuators
17 Introduction to Sensors and Actuators
M. Anjanappa, K. Datta, T. Song, Raghavendra Angara, and S. Li . . . . . . . . . . . . . . . . . . . . . . 17-1
18 Fundamentals of Time and Frequency
Michael A. Lombardi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18-1
19 Sensor and Actuator Characteristics
Joey Parker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19-1
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20 Sensors
20.1 Linear and Rotational Sensors Kevin M. Lynch and Michael A. Peshkin . . . . . . . . . . . 20-2
20.2 Acceleration Sensors Halit Eren . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-12
20.3 Force Measurement M. A. Elbestawi. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20-34
20.4 Torque and Power Measurement Ivan J. Garshelis . . . . . . . . . . . . . . . . . . . . . . . . . . 20-48
20.5 Flow Measurement Richard Thorn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-62
20.6 Temperature Measurements Pamela M. Norris and Bouvard Hosticka . . . . . . . . . . . 20-73
20.7 Distance Measuring and Proximity Sensors Jorge Fernando Figueroa and
H. R. (Bart) Everett
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20-88
20.8 Light Detection, Image, and Vision Systems Stanley S. Ipson . . . . . . . . . . . . . . . . .20-119
20.9 Integrated Microsensors Chang Liu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20-136
20.10 Vision Nicolas Vazquez and Dinesh Nair. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20-153
21 Actuators
21.1 Electromechanical Actuators George T.-C. Chiu . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-1
21.2 ElectricalMachines Charles J. Fraser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-33
21.3 Piezoelectric Actuators Habil Ramutis Bansevicius and Rymantas Tadas Tolocka . . . 21-51
21.4 Hydraulic and Pneumatic Actuation Systems Massimo Sorli and Stefano Pastorelli. .21-63
21.5 MEMS: Microtransducers Analysis, Design, and Fabrication
Sergey Edward Lyshevski
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21-97
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I-1
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