Module also offered within study programmes:
General information:
Name:
Actuating, sensing and control mechatronic systems
Course of study:
2013/2014
Code:
RMS-1-501-s
Faculty of:
Mechanical Engineering and Robotics
Study level:
First-cycle studies
Specialty:
-
Field of study:
Mechatronics with English as instruction languagege
Semester:
5
Profile of education:
Academic (A)
Lecture language:
English
Form and type of study:
Full-time studies
Course homepage:
 
Responsible teacher:
dr hab. inż, prof. AGH Petko Maciej (petko@agh.edu.pl)
Academic teachers:
dr inż. Karpiel Grzegorz (gkarpiel@agh.edu.pl)
dr inż. Mańka Michał (mmanka@agh.edu.pl)
dr hab. inż, prof. AGH Petko Maciej (petko@agh.edu.pl)
dr hab. inż, prof. AGH Martowicz Adam (adam.martowicz@agh.edu.pl)
Module summary

Description of learning outcomes for module
MLO code Student after module completion has the knowledge/ knows how to/is able to Connections with FLO Method of learning outcomes verification (form of completion)
Social competence
M_K001 is aware of the responsibility for own work and readiness to comply with the rules of team work and accepting responsibility for projects and experiments performed collectively MS1A_K04 Execution of a project,
Execution of laboratory classes,
Involvement in teamwork
M_K002 is able to correctly set priorities for the realization of a specific project or performing an experiment MS1A_K05 Execution of a project,
Execution of laboratory classes
Skills
M_U001 ability to use catalogs, data sheets, application notes and other sources to select appropriate actuators and sensors for the mechatronic devices and for design of electronic circuits MS1A_U01, MS1A_U13 Project
M_U002 is able to properly select actuators and sensors for mechatronic devices for various applications, taking into consideration the given functional and economic criteria MS1A_U12 Project
M_U003 is able to develop documentation related to the completion of a project or experiment, also in the form of presentation or report MS1A_U03, MS1A_U09, MS1A_U04 Presentation,
Project,
Report
M_U004 can design, build, bring into operation and test a simple combinatorial and sequential electronic circuit MS1A_U20, MS1A_U17 Project
M_U005 is able, using a properly selected tools, to build a model of electric drive, experimentally identify its parameters, synthesize a control system and verify by simulation parameters of thus developed servo MS1A_U07, MS1A_U20, MS1A_U16, MS1A_U12, MS1A_U08, MS1A_U09 Project,
Report
M_U006 is able to work individually or in team; able to develop and complete a schedule of works and meet the deadlines MS1A_U02 Project,
Execution of a project,
Execution of laboratory classes,
Involvement in teamwork
M_U007 can use datasheets, application notes, manuals and similar documents in English MS1A_U05 Project,
Execution of a project,
Execution of laboratory classes
M_U008 observes health and safety rules during working with actuators, sensors and electronic circuits MS1A_U19 Execution of a project,
Execution of laboratory classes
M_U009 is able to use high-level programming languages to develop programs for microcontroller or microprocessor based controllers of mechatronic systems MS1A_U14 Project,
Execution of laboratory classes
Knowledge
M_W001 knows and understands the methodology of selecting actuators for mechatronic devices; knows computer tools supporting selection and simulation of actuators in mechatronic devices MS1A_W12 Project,
Report,
Execution of laboratory classes
M_W002 knows and understands the methodology of designing simple combinatorial and sequential circuits; knows computer tools for the design and simulation of these circuits MS1A_W12 Test,
Project,
Report,
Execution of laboratory classes
M_W003 knows the basic health and safety rules for working with drives, sensors and electronic circuits MS1A_W15 Execution of a project,
Execution of laboratory classes
M_W004 knows and understands the methods of measuring basic mechanical, electrical quantities and temperature MS1A_W07 Examination,
Test,
Report,
Execution of laboratory classes
M_W005 well-ordered knowledge of the construction, operation and software of microprocessor systems MS1A_W10 Examination,
Test,
Project,
Report
M_W006 knows and understands the construction and operation of a servo drive control system MS1A_W09, MS1A_W06, MS1A_W10 Examination,
Test
M_W007 knows operation principles of selected non-electrical quantities sensors, including MEMS sensors applied in mechatronic systems MS1A_W06 Examination,
Test,
Project
M_W008 knows the principles of operation and characteristics of selected electrical, pneumatic and unconventional actuators MS1A_W06, MS1A_W04 Examination,
Test,
Report
M_W009 have a basic knowledge of relevant sensor parameters and their impact on application in mechatronic devices MS1A_W06 Examination,
Test,
Project
M_W010 knowledge of the current state and recent development trends of sensors, electric drives and digital electronics MS1A_W13 Examination
FLO matrix in relation to forms of classes
MLO code Student after module completion has the knowledge/ knows how to/is able to Form of classes
Lecture
Audit. classes
Lab. classes
Project classes
Conv. seminar
Seminar classes
Pract. classes
Others
Zaj. terenowe
Zaj. warsztatowe
E-learning
Social competence
M_K001 is aware of the responsibility for own work and readiness to comply with the rules of team work and accepting responsibility for projects and experiments performed collectively - - + + - - - - - - -
M_K002 is able to correctly set priorities for the realization of a specific project or performing an experiment - - + + - - - - - - -
Skills
M_U001 ability to use catalogs, data sheets, application notes and other sources to select appropriate actuators and sensors for the mechatronic devices and for design of electronic circuits - - - + - - - - - - -
M_U002 is able to properly select actuators and sensors for mechatronic devices for various applications, taking into consideration the given functional and economic criteria - - + + - - - - - - -
M_U003 is able to develop documentation related to the completion of a project or experiment, also in the form of presentation or report - - + + - - - - - - -
M_U004 can design, build, bring into operation and test a simple combinatorial and sequential electronic circuit - - + + - - - - - - -
M_U005 is able, using a properly selected tools, to build a model of electric drive, experimentally identify its parameters, synthesize a control system and verify by simulation parameters of thus developed servo - - + + - - - - - - -
M_U006 is able to work individually or in team; able to develop and complete a schedule of works and meet the deadlines - - - + - - - - - - -
M_U007 can use datasheets, application notes, manuals and similar documents in English - - + + - - - - - - -
M_U008 observes health and safety rules during working with actuators, sensors and electronic circuits - - + + - - - - - - -
M_U009 is able to use high-level programming languages to develop programs for microcontroller or microprocessor based controllers of mechatronic systems - - + + - - - - - - -
Knowledge
M_W001 knows and understands the methodology of selecting actuators for mechatronic devices; knows computer tools supporting selection and simulation of actuators in mechatronic devices + - - + - - - - - - -
M_W002 knows and understands the methodology of designing simple combinatorial and sequential circuits; knows computer tools for the design and simulation of these circuits + - - + - - - - - - -
M_W003 knows the basic health and safety rules for working with drives, sensors and electronic circuits - - + - - - - - - - -
M_W004 knows and understands the methods of measuring basic mechanical, electrical quantities and temperature + - - - - - - - - - -
M_W005 well-ordered knowledge of the construction, operation and software of microprocessor systems + - - - - - - - - - -
M_W006 knows and understands the construction and operation of a servo drive control system + - - - - - - - - - -
M_W007 knows operation principles of selected non-electrical quantities sensors, including MEMS sensors applied in mechatronic systems + - - - - - - - - - -
M_W008 knows the principles of operation and characteristics of selected electrical, pneumatic and unconventional actuators + - - - - - - - - - -
M_W009 have a basic knowledge of relevant sensor parameters and their impact on application in mechatronic devices + - - - - - - - - - -
M_W010 knowledge of the current state and recent development trends of sensors, electric drives and digital electronics + - - - - - - - - - -
Module content
Lectures:
  1. The power supplies and power drivers of electric motors
  2. DC motors
  3. AC motors
  4. Stepper motors and direct drives
  5. Pneumatic actuators
  6. Piezoelectric actuators
  7. Combinational and sequential circuits
  8. Semiconductor memories
  9. Microprocessors
  10. Embedded systems
  11. Software for microprocessor systems
  12. Basic properties of sensors, the role of sensors in mechatronic systems
  13. Strain gauges and encoders
  14. Temperature sensors
  15. Other sensors
  16. MEMS Sensors
Laboratory classes:
  1. Simple combinatorial and sequential circuits
  2. Electric motor controllers
  3. Pneumatic motor control by means of relay systems
  4. DC motor Model
  5. Hardware closed-loop control of a DC motor
  6. Software control of a stepper motor with the use of an embedded system
Project classes:
  1. Electric circuits
  2. Combinational circuits synthesis
  3. Sequential circuits synthesis
  4. Selection of DC motors
  5. Selection of linear direct drives
  6. Selection of motors and sensors for the selected device or mechatronic system
Student workload (ECTS credits balance)
Student activity form Student workload
Summary student workload 385 h
Module ECTS credits 14 ECTS
Realization of independently performed tasks 75 h
Participation in lectures 65 h
Participation in laboratory classes 60 h
Participation in project classes 44 h
Examination or Final test 1 h
Preparation for classes 60 h
Completion of a project 50 h
Preparation of a report, presentation, written work, etc. 30 h
Additional information
Method of calculating the final grade:

weighted average of the exam, laboratory and project grades

Prerequisites and additional requirements:

Ability to solve simple RLC circuits;
Knowledge of magnetism and electricity;
Knowledge of basic methods of measurement of electrical quantities;
Knowledge of the basic operating principles of semiconductor devices and the ability to solve simple circuits containing these devices;
Basic knowledge of automation;
The ability to design a simple control system;
Ability to work in a package Matlab / Simulink;
Ability to program in C;

Recommended literature and teaching resources:

Literature:

  1. Janocha H. [red.]: Actuators: Basics and Applications, Springer, Berlin, 2004
  2. Frank, R.: Understanding Smart Sensors. Artech House, Norwood, 2000
  3. Weinheim: Sensors: a Comprehensive Survey. New York, 1989
  4. Beeby S., Ensell G., Kraft M., White N.: MEMS Mechanical Sensors. Artech Hause, Norwood, 2004
  5. Lisowski W. [red.]: Introduction to robotics, Wydawnictwa AGH, Kraków, 2004
  6. Smith R.J., Dorf R.C.: Circuits, devices and systems: a first course in electrical engineering, Wiley, Nowy Jork, 1992
  7. Elementy i układy elektroniczne, Kuta S. [red.], Wyd. AGH, Kraków, 2000
  8. Stallings W., Organizacja i architektura systemu komputerowego. Projektowanie systemu a jego wydajność, WNT, Warszawa, 2004
  9. Baranowski J., Kalinowski B., Nosal Z., Układy elektroniczne Część III Układy i systemy cyfrowe, WNT, Warszawa, 2006
  10. Majewski W., Układy logiczne, WNT, Warszawa, 2003#

Pomoce naukowe: przenośna pamięć masowa (pendrive)

Scientific publications of module course instructors related to the topic of the module:
  1. Petko M., Wybrane metody projektowania mechatronicznego, Wyd. Nauk. Inst. Technologii Eksploatacji, Kraków; Radom 2008, ISBN 978-83-7204-709-0
  2. Uhl T., Petko M., Karpiel G., Klepka A.: Real time estimation of modal parameters and their quality assessment, Shock and Vibration, vol. 15, no. 3,4, 2008, pp. 299-306
  3. Petko M., Karpiel G.: Implementation of Control Algorithms in Field Programmable Gate Arrays. W: AIM2007: proceedings of the 2007 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, IEEE, Zurich 2007, ISBN: 1-4244-1264-1
  4. Petko M., Karpiel G.: Mechatroniczne projektowanie robota równoległego do frezowania. W: Kubik J., Kurnik W., Nowacki W.K. (red.): I Kongres Mechaniki Polskiej: materiały kongresowe, Warszawa 2007
  5. Petko M., Karpiel G., Implementation of Control Algorithm in System-on-a-Programmable-Chip, w: ICM 2006: IEEE 3rd International of Conference on Mechatronics: proceedings, IEEE, Budapest 2006, s. 306-311, ISBN: 1-4244-9713-4
  6. Petko M., Karpiel G., Uhl T., Neural Control of a Parallel Robot – Design and Implementation in FPGA, w: Mechatrinics 2006: 4th IFAC – Symposium on Mechatronic Systems: Preprints, VDI, 2006, s.145-150
  7. Petko M., Karpiel G., Hardware/Software Co-design of Control Algorithms, w: Proceedings of the 2006 IEEE International Conference on Mechatronics and Automation, IEEE 2006, pp. 2156-2161, ISBN: 1-4244-0466-5.
  8. Petko M., Uhl T., Smart sensor for operational load measurement, Transactions of the Institute of Measurement and Control, 26, 2 (2004) pp. 99–117
  9. Petko M., Karpiel G., Controller for a prismatic robot link with friction – design and implementation, w: Kaszyński R. [red.], Proceedings of the 9th IEEE International Conference on Methods and Models in Automation and Robotics, vol.2, pp. 1027-1032, Wyd. Uczelniane Pol. Szcz., Szczecin, 2003, ISBN: 83-88764-77-2
  10. Petko M., Karpiel G., Semi-Automatic Implementation of Control Algorithms in ASIC/FPGA, w: ETFA 2003: 2003 IEEE Conference on Emerging Technologies and Factory Automation: proceedings, vol. 1, pp. 427-433, IEEE, Lisbon, 2003, ISBN: 0-7803-7937-3
  11. Petko M., Hardware fuzzy controller for the robot link with friction, w: Ruano, A. E. [red.], Intelligent Control Systems and Signal Processing 2003, Elsevier, 2003, s.167-172, ISBN: 0-08-044088-6
  12. Acceleration of parallel robot kinematic calculations in FPGA / Maciej PETKO, Konrad GAC, Grzegorz KARPIEL, Grzegorz GÓRA // W: ICIT 2013 [Dokument elektroniczny] : 2013 IEEE International Conference on Industrial Technology : Cape Town, South Africa, 25–28 February 2013. — Wersja do Windows. — Dane tekstowe. — [Piscataway : IEEE], cop. 2013. — Dysk Flash. — e-ISBN: 978-1-4673-4568. — S. 34–39
  13. Trajectory tracking controller of the hybrid robot for milling / Maciej PETKO, Grzegorz KARPIEL, Konrad GAC, Grzegorz GÓRA, Konrad KOBUS, Janusz OCHOŃSKI // W: Mechatronics: Ideas for industrial applications [Dokument elektroniczny] : international conference : May 11–13, 2015 Gdańsk, Polska / Gdańsk University of Technology, PIAP. — Wersja do Windows. — Dane tekstowe. — [Gdańsk: s. n.], 2015. — Dysk Flash. — S. [1-10]
Additional information:

The condition of taking the exam is to get credits from the project and laboratory.