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Integrating Multi-Domain Models for the Design and Development of Mechatronic Systems
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics. (Mechatronics)
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics. (Embedded Control Systems)ORCID iD: 0000-0002-4300-885X
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics. (Mechatronics)ORCID iD: 0000-0002-7550-3134
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics. (Mechatronics)
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 [en]
MBSE, SysML, model integration, mechatronics
National Category
Information Science
Identifiers
URN: urn:nbn:se:kth:diva-34313OAI: oai:DiVA.org:kth-34313DiVA: diva2:420382
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
In thesis
1. An Integrated Approach towards Model-Based Mechatronic Design
Open this publication in new window or tab >>An Integrated Approach towards Model-Based Mechatronic Design
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
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:nbn:se:kth:diva-35374 (URN)978-91-7501-025-0 (ISBN)
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
2. Model and Dependency Management in Mechatronic Design
Open this publication in new window or tab >>Model and Dependency Management in Mechatronic Design
2013 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Managing consistency is a major concern in the design of complex engineering systems. At times, inconsistencies may lead to wrong decisions, resulting in design flaws which can compromise safety and cause failures. One cannot forget the 1999 NASA unmanned MARS Climate Orbiter, which was destroyed due to use of inconsistent units by design teams. Sadly, the history of inconsistency causing failures does not end there. In 2006 Airbus suffered a massive 6.1 billion dollar loss due to use of inconsistent specifications in different versions of design tools. So what causes inconsistency, and how best to avoid it? These are some of the critical questions behind the research reported in this thesis.

Today's engineering systems cannot be designed by a single individual, but require the efforts of design teams each managing a portion of the overall problem. Naturally, information exchange between teams is necessary for effective decision making. However such communication is often error-prone and inadequate to manage dependencies between tasks, operations, components or properties. As a consequence, inconsistencies and design errors arise, which may cause catastrophic failures.

This thesis investigates the nature of dependencies, typically in the design process of mechatronic products, and proposes an approach for model and dependency management. The proposed solution is based on an expressive Domain Specific Language which enables capturing dependencies (between disparate models) formally and explicitly. This language is called the Dependency Modeling Language (DML), and the supporting tool is named the Dependency Modeler. The overall approach is exemplified through a robot design example, where the DML is used to capture dependencies between mechanical design and control design models. In support of the DML, dependency patterns gather known dependency relationships between different types of properties - such as a pattern between system hierarchy and mechanical CAD assembly. Model transformations are essential to support execution of such patterns and to support the necessary information exchange between disparate models to enable dependency modeling. Transformations supporting the dependency pattern between system hierarchy and mechanical CAD assembly are illustrated for the robot example. Initial reflections on the Dependency Modeler show a strong potential to support change management, workflow management and consistency management.

Future work targets further development and testing of DML in order to achieve a sound platform for dependency management. A development environment supported by an integration framework - encompassing different model-based design tools - is envisioned as an infrastructure for model management in mechatronic design. It is hoped that such an infrastructure will equip designers with the best possible tools to make better decisions and to spot design errors that might otherwise be fatal.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2013. xviii, 145 p.
Series
Trita-MMK, ISSN 1400-1179 ; 2013:03
Keyword
Dependency Modeling, Model-Based Systems Engineering (MBSE), Mechatronic Design, Model Integration, Tool Integration, Common Language, Mechatronic Challenges, Domain Specific Language.
National Category
Embedded Systems
Identifiers
urn:nbn:se:kth:diva-119522 (URN)978-91-7501-664-1 (ISBN)
Public defence
2013-03-27, B319, Brinellvägen 85, KTH, Stockholm, 13:00 (English)
Opponent
Supervisors
Note

QC 20130318

Available from: 2013-03-18 Created: 2013-03-15 Last updated: 2013-03-18Bibliographically approved

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