REM Proceedings of 7th International Workshop on. itliflfi RESEARCH AND EDUCATION IN MECHATRONICS. Stockholm June

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1 REM 2006 Proceedings of 7th International Workshop on RESEARCH AND EDUCATION IN MECHATRONICS Stockholm June Editors: Mats Hanson & Jan Wikander itliflfi ROYAL tnstituti ttf TSCHNOLOeV UB/TIB Hannover

2 Teaching the Content Education: learning Mechatronics by On-Line - Distance Learning Frank Carter, Brian Mulligan IT Sligo Experience 11 - Mechatronoic Engineering and Learning 17 Ewald G. Welp, Patrick Labenda Master Education in Mechatronics / Sensor Technology by Self Dependent Team Studies within Research Projects 23 Martin Loffler-Mang, Giinter Schultes Student Integration and Evaluation in Mechatronic Curriculum With PBL 29 Torben O. Andersen, Michael R. Hansen, Finn Conrad Simulation, modelling, design Integrative specification of product concepts and production systems concepts shown on the example of a wireless sensor-actuator interface 35 Juergen Gausemeier, Daniel Steffen, Jan Stefan Michels Discrete event modelling & simulation of mechatronic systems 41 Aziz Naamane Simulation of a Winder with Inline Change of Wound Rolls 47 Georg Spadi, Wilhelm Prescher, Benno Lammen, Dirk Stumpe, Christoph Kuppers Model-Based Design of Embedded Software 53 Nicolae Marian, Yu Guo Modelling and control Mathematical model of dual-stage actuator with passive j oint for HDD head positioning 61 Tomasz Trawinski Verification ofthe mathematical model of Voice Coil Motor with high range of angular motion 67 Tomasz Trawinski 5

3 About optimal location of sensors and actuators for the control of flexible structures 73 Jacques Lottin, Fabien Formosa, Mihai Virtosu, Laurent Brunetti Optimum control of transverse rotor vibration with the magnetic bearing application 77 Rafat Hein Education: international outlook Development of the mechatronics curriculum at the University of Aleppo, Syria 83 George Chamilothoris, Koussai Kayali Structure, Contents and the new Bachelor- Master- Course of Hannover 87 H. Eilers, N. Bouzid, B. Heimann Mechatronics in Mexico: from a traditional to a transformative learning 95 Rafael Trovamala, Elsa Gonzalez, Ilhuicamina Servin Research and Education at University of Miskolc, Hungary 101 Tibor Csdki, Gyula Patkd, JozsefCselenyi, Attila Lengyel Robotics/manipulators Conception of a Robot Assisted Cochleostomy First Experimental Results 109 S. Baron, H. Eilers, O. Hornung, B. Heimann, M. Leinung, S. Bartling, Th. Lenarz, O. Majdani SMA gripper for industrial robot 117 M. Kciuk, G. Klapyta A research threewheeler vehicle with processor controlled tilting and steering mechanism 121 Michael Pohl, Axel Conrads Real-time detection and tracking of human body parts in real working environments 127 Stefan Hahne, Rainer Herpers, Alexander Barth, Dietmar Reinert 6

4 Control Application oriented design of velocity controller for machine axe s 135 Wolfgang Weber, Andreas Kayser, Stefan Rothenbiicher Towards Implementation ofnew Technologies for Embedded Control System Design 143 Ines Maria Fernandez, Zhun Fan, Torben Ssrensen, Diego Gonzalez Adaptive Kalman Filter for Smooth Velocity Signals ofresolvers for the Control of Servo Drivers 147 Matthias Krug, Wolfgang Weber Education: experimental devices Handy and affordable: A training kit for the imparting of basic concepts of mechatronics and control systems RudolfKern 153 A Low-Budget Autonomous Mobile Robot for Outdoor Tasks 161 Christiane Lemke, HaraidLoose Development of an Integrated PWM-Module with CAN Interface for Nautical Automation Tobias Lukowiak, Thorsten Quent, Rolf Biesenbach 167 Vision Embedded Face Recognition for Mechatronic Devices 171 Diego Gonzalez, Zhun Fan, Torben Serensen, In&s Maria Ferndndez Quality control of steel tubes with Machine Vision 177 Reiner Dudziak, Martin Schittek Visual Inspection of Fast Moving Heat Shrink Tubes in Real-Time 181 Alexander Barth, Rainer Herpers, Markus Grefinich, Dietmar Reinert 7

5 Linear Sensing and measurements Design of a Piezoelectric Powered Wireless Sensor 189 Bjorn Richter, Eberhard Niggemann, Jorg Wallaschek Speed Measurement System Applied in - Rotary Marcin Szczygiei, Pawel Kielan Induction Motor 195 A Method for Speed Measurements of DC-Motors without a Sensor 199 Kalevi Hyyppd Monitoring Real-time adaptive filtering of dental drill noise using a digital signal processor 203 E. Kaymak, M. A. Atherton, K. R. G. Rotter, B. Millar Performance monitoring for Feedback and Feedforward Control with application to Strip Thickness Control 209 Heinrich Ratjen, Mohieddine Jelali Experimental setup and simulations of a parallel pneumatic robot 217 P. Righettini, H. Giberti, S. Chatterton, R. Slrada Design/control An approach to multidisciplinary design optimization of mechatronic systems 225 Torben O. Andersen, Michael R. Hansen Tool point control in mobile applications 231 Michael R, Hansen, Torben O. Andersen Feasibility study of electronic load sensing concept for hydraulic variable displacement pump 237 Michael R. Hansen, Torben 0. Andersen, Henrik C. Pedersen, Finn Conrad 8

6 a Education: Project experiences Mechatronical Project in Education: Unerring Dart Target 245 Frank Schiller, Jiirgen Welter, BernhardKausler, Benjamin Danzer The Master ofscience in Mechatronics - research oriented Degree programme at the University of Applied Sciences Cologne 251 Heinrich Ratjen A Practical Experience on Mechatronics: Developing an Autonomous Quad 255 Angel Valera, Martin Mellado Dependability/prototyping Reliability estimation from field data: coupling BRM and SPN methods 261 Alin Mihalache, Fabrice Guerin, Mihaela Barreau, Alexis Todoskoff General Concepts for Dependability in the Design of Mechatronic Systems 267 Thomas Miiller, Jorg Wallaschek Test bench design for motorcycle suspensions P. Righettini, H. Giberti, S. Chatterton, A. Oldani HIL test 273 Education: Project examples Automatic derailleur for bicycle 281 Fabien Formosa, Jaques Lottin, Serge Samper The Strobe Clock, an Experimental Approach Arousing Interest in Mechatronics 285 Jdrg Wild, Gerhard Gruhler, Ansgar Meroth, Wolfgang Wehl Development of a Low-Cost Electronic Diesel Engine Control for Teaching Purposes RolfRoskam 293 Experience from a new bachelor level degree project in mechatronics 299 Martin Grimheden 9

7 Actuators Linear Induction Motors and Planar Motors Peter Dittrich, Daniel Radeck Conception of unconventional low-vibration induction motor for special Applications G. Kiapyta, K. Kluszczynski New Results in Development ofaxial Flux DC Micromotors Attila Halmai Analysis of the mechanical characteristics of stepper motor drives: design of an experimental test bench Vittorio Lorenzi, Paolo Righettini, Roberto Strada, Bruno Zappa 10