 Hello, welcome to this course ME 6102 on design of mechatonic systems. What we are going to see today is mainly like know the introduction, part of that is what is learning, we will see what what you know it is opens up for us and then motivation for this learning and the contents of this course ok. These are like know mainly things that we are going to see today. So my name is Prasanna Gandhi and I will be there as a instructor for this course with you for like know this semester to go ok. So let us begin here, let me switch to the slide mode again ok. Now first let us ponder over this thing have you ever like know understood this mechanics of learning how the learning happens ok what is this learning ok. So any guesses can you see like you know think about how exactly when we see or you read something or like you listen to somebody what is the way like know the learning happens in the process ok. If you kind of ponder over closely you will understand that it is not about just some kind of information it is actually taking you to what you already know and adding something more to it ok. So it is something like you know moving from something known to something unknown ok. So that is why you need some kind of a background for learning anything ok. So child cannot be sitting in this class with you right I mean he or she may not understand anything talked about ok. But it is just basic some kind of a background if you have then like know you can connect with that background to some something unknown and like know you grasp little more than what you have unknown already ok. So this we understand is process if you understand is process very well then like know it is very smooth journey ok for like know enhancing your knowledge you will not have a situations of like panic because like you know like for understanding something you need some background ok. So you know it is like some in some way expanding your common sense ok. So this is again another part of learning like you know see from childhood like know we have this kind of a common sense for example when you are like a driving a bike or when you learn first to kind of like know ride a bicycle ok. You do not need to know the fun days of mechanics or force or like know the kinematics or dynamics of the systems. You learnt it like know by some way ok with that kind of a common sense like you know ok if you kind of train to fall on one side you need to like know do something to not that not make that fall happen and somehow you kind of like know master that skill. So you do not need really like know these fun days to kind of get a get a sense ok. So this common sense is what I am talking about here we should not lose it I mean I found like know my experience like many people like know they tend to lose this common sense instead of expanding during the process of like know learning the engineering courses especially deep mathematical courses you tend to believe math more than like know your common sense and then like know that is where the things start kind of little bit you know moving away from doing any useful things out of whatever you are doing ok. So you need to be aware about these two things like know the learning process is going from known to unknown and like know this is a common sense that we already have some something with within us we want to kind of expand it more. Another example I can give for this common sense kind of a thing is like you know the sense or feel for numbers ok. So if I say 1 meter or 1 mm you understand what it is right you know you know you have a feel for like know what is 1 mm and 1 meter but probably like you know if I say the same thing for acceleration 1 meter per second or you know that is very little bit hard to kind of get a feel for that. So we have to develop this kind of a feel and that feel is very important for designers ok. So we will see little more about that as we go along ok. What it is not it is not just the information it is not your memory ok and it is not moving from unknown to unknown. So if you are like know something is being talked about and like know you are not able to connect it to your prior knowledge or it is just kind of like know you are making no sense to you that means like know probably you need to kind of go back little bit one step and like know do read about like know the prior background necessary to understand that ok. So that if you understand this then like know you will not have a difficulty. So when you do not feel that you are understanding well then you go back and like know do some like know background and come back again to do this ok. So this is what we will do ok. Then let us move on to the next question. Now what is the way how do you understand things ok. See typically what you do like know able to do study you start reading the books ok. Then maybe like know some of you maybe seeing something about some concepts like know you see there is some practical thing happening or some kind of experimental thing happening about that concept and then like know understand the concept ok. But does it give like know really really like know great understanding. So you like know just see this some kind of a Chinese saying very whatever you read you tend to forget in like know in time ok. So this time maybe a little small for some people maybe a little large for some other people but whatever you really have read like know you will tend to forget eventually as a time progresses. Then you whatever you see you will remember ok. So if you have observed some phenomena happening like know you that creates like know much deeper impression in our mind than like you know just reading ok. Then actually when you do the stuff then you understand if you are building some setups or building like know you are actually working out that experimental phenomena yourself while while doing you understand much much better ok. Then that understanding is kind of like know some somewhat irrefutable like know anytime even in the middle of the sleep you are like know awaken and ask something about it you will not have any problem in kind of telling that. So that is a way you say ok that is the way that is the point you know you have understood the things really well. Many times we say ok we have understood but actually reality somebody ask some questions about it then then we understand oh no we have not yet understood ok. So like that you need to kind of like know see what you call understanding and how do you get to the understanding thing ok. And we will do in this particular course is all about doing and understanding things. So we will do lot of stuff like know maybe simulation maybe some small experimentations at at your like know home will do with the experience experiential learning ok experiment to experiment we will start like know learning lot of new things. Of course there will be a mathematics to back up the things and like you know understand what part of mathematics are really important and not we will see like as we as we move along ok. So for for this course to kind of like know have you a rich experience what is expected out of you ok the first and foremost is ethics ok. So this is something which will not compromise at all ok this is for your own kind of a rich understanding and learning experience like you know this will very important not to kind of like know tamper with your ethics ok. And you can help others to clear like know fundage ok that actually helps like know you to kind of you know enhance your clarity of understanding ok somebody ask you questions like know it is much better kind of a way to kind of think over and give answer while answering like know you you you will find out ok your clarity about those fundamentals become much better ok. At least you know as a instructors we have this experience every time we teach like know the same course even if it is the same course like there are some things that new that we learn from from the questions that the students ask ok. So it is good to kind of do that kind of a small process in small way as possible for your friends. Then now we cannot be in class physically but at least you can be physically there during the class hours so that like know we can have like know whatever possible you know best interaction possible when when we are kind of having this interaction session during our class class time. And very important that if you have doubts or questions you can you will feel free to ask it may be common for many people and you need to be aware of this common sense feel I was talking about that you know you say for example you throw a ball from your you know inside your house you throw a ball to touch your terrace I mean touch your ceiling and like know it comes back like you know we have a feel ok what is the velocity it will hit the ground ok and again after hitting what is the velocity it will bounce back ok depending upon the material of the ball there will be like lot of different kind of things that are happening there can you get a feel for this phenomena ok. Of course you know how to kind of do the number crunching on that and like know get to those numbers but without doing any number crunching like you know without getting into equations too much can you kind of get a feel oh this will go by this velocity of 1 meter per second or like no 2 meter per second what is the velocity or when you are riding a bike like you know what is the kind of a speed that you are going in meter per second for example. So, those kind of a feel for numbers is what will help any designer like you know to get the design ideas you know conceived in a way that there will be more feasible ok. Otherwise we conceive lot of ideas but then just some simple backhand top hat calculations we find those ideas are like no not really workable ok. So, to get to the ideas multiple ideas innovative ideas but they are workable ok in the they are at least somewhat workable ok you need to do little more kind of a thing to kind of make them perfect but you will not waste too much of a time in conceiving ideas as a designer which may not see the light at the end of the day ok. So, that is the kind of idea for like you know getting the feel for different phenomena and different numbers ok and also like you know you should you are free to give feedback any time you know even anonymous or like you know whatever way you want to give like you know you can post it any time ok. So, this feedback will help to kind of like you know to tune the things for your particular kind of a test of learning ok alright. This is slide about like you know communication ok. So, when I am saying some words or saying some something you may listen to these words multiple times they make some kind of a picture or sense in your mind, but what actually what I wanted to speak you know that intention behind may be different ok. So, we will become aware about this fact you know that ok like you know you the picture actually is different but like the words are saying something different. So, we can ask and questions and clarify this understanding and learning here ok. So, let us move on ok. Now the question here is like you know is why study design of mechanical systems ok. So, you can kind of ponder over this ok why do you think like you know you are here ok for this course ok. What prompted you to really come here and like you know maybe like at least kind of get a introduction lecture attended or like you know feel for the course ok. What do you think ok. Just ponder over this like you know you may have some answers with you you know you may be like you know rioting them out or thinking them out, but ok. So, let us think from like you know just general kind of a philosophy perspective like you know what are the things that get importance in the in the different like you know periods of time ok in terms of this technology ok. So, you will find that you know the technologies that drive the markets economics market economics in some way they start kind of getting more and more importance and then the old technologies which are there like you know they kind of fade away and you know. So, so, so this mechanism is like you know doing that kind of a difference ok. So, the technologies which are giving you higher productivity and at a lower cost ok that are going to get you know this the market meter ok. So, you can see that you know the increasing demands on quality and productivity ok that forces any technology that drives any technology ok and in this particular case it is mechatronics or automation ok. So, if you see all the things that are happening in these different different domains like you know automobile domain, energy space, aerospace applications you know they are all kind of now getting like you know drastically changed by by you know these developments in the area of mechatronics ok or they are getting more and more mechatronics systems into into them ok. And the next question is like you know was it not known before why it is getting demand only now ok. The answer is like you know if you see the over the period of years now like you know there is a decrease in the cost of IC and microprocessors ok and they are available now at a throwaway price ok. You can even buy a lot of microprocessors as a sample ports without paying anything and like you know you can work with them. So, this low cost implementation of control is what is possible very easily now and that is what is kind of like you know it is main game changer in in all these activities ok. Then other thing is like you know many new features and products that were previously unthought can be possible there are lot of examples one can cite I mean you can start with ATM machines or like you know your car you know lot of systems in the car like you know modern cars if you see there are so many kind of small small control systems which are in place right from the fuel injection electronic fuel injection to auto drive mode or you know this the the hands free drive mode lot of like you know these new features are coming in the automobile industry which are previously people might have like you know 30 40 years like you know before people might not have thought that this could be possible and there are many future directions which are like you know very exciting in this domain I would say with internet of things there are increasing you know smartness now rest with devices and the systems themselves you do not have to kind of repair the system but the system will say like no that ok it needs repair or you don't need to do the maintenance of the system but system will maintain itself that kind of a thing could be possible with the developments in IOT sector that are happening and other thing that is happening is in the machine learning domain which is like you know very interestingly changing like you know lot of lot of ways in which the things are done previously. So you might have kind of seen them already but maybe we can kind of like you have one some examples of these as we as we go along in this course ok now if you see what are the different applications of mechatronic systems ok you can like no see the some of the industrial applications ok there are many like no assembly lines or process plants you know which run with like no these mechatronics at their heart ok. So maybe let us observe this video ok you can see like no so many robots which are working in in coordination with each other ok there is sound behind we cannot hear the sound ok. So you see that you know it is doing some quality inspection and segregating components based on the quality of the products that are being running on the on the like no line. So this is like assembly line for like no different different products actually. So if you imagine this operation to be done by a human being it is going to be too much of what you say drudgery kind of a job ok like doing the same thing over and over again and that is completely being saved by by this process ok. So this very interesting way like no these product lines you know this is a ABB industry kind of a robot courtesy to them. So you see the this the way this robot is made to work it has a flexible links there I mean they are not very flexible but they are somewhat flexible but they are working in in there it is like in a parallel kind of a configuration and because of that it is this robot is kind of working very very fast at very high speed actually ok that can be possible for such a kind of a system because of the lightweight flexible linkages ok and it comes with a so here like no there is a additional image processing kind of application going on. So with this image like no you are identified like no some kind of a products and then like no they are placed into their packages in a in a very interesting way some kind of algorithms being worked out you can see that here. So how like no these packages are fed with proper products you know placed inside them and handling this kind of a soft objects very kind of a interesting technologies would have gone in in designing or developing this you know products and processes and like no further the the complete mechatronic system around the process ok. So maybe we will pause here for this video and come back to our presentation. So what you have seen is one of the industrial applications we have such a lot of such kind of like no applications in industry and there are a lot of domestic or like no consumer applications for for the systems as well ok. So a lot of these new gadgets that you see around I mean you have must have used like no plenty of these yourself. So I am giving some list of some gadgets here ok. So CDROM drives for example is is very one of my favorites it is very interesting technology sits there very refined kind of a opto mechatronics kind of a system is CDROM drive. So it has to read the data from surface of a CD which is placed in the in the one kind of a one single spiral which runs over kilometers on a CDROM drive. So we will talk about this in more in in details in the in some classes to come. Then maybe we will look at some more kind of like you know some products ok. This this kind of looking at these actually designed products will help us like no tune like no what is a way or thinking philosophy of developing this kind of a designing these mechatronics systems ourselves for some different application ok. So from that perspective we will look at like no many different existing applications ok. So so that is what the point I was coming to now like how do you understand like no these systems see for designing we need to have this understanding of the systems first ok. So see there the there are multiple ways ok. So one of the ways is like no going through like entire fundamentals and doing like no lot of you know different allied courses or different allied topics related to this. See like no mathematically or theoretically studying them all and then come back to a system and like no see how how that these fundamentals are taken into that system. And other approach is like no you can directly go to these systems experimental practical world and learn from nature. You just see like no how these systems are designed ok. Observe things click keenly and carefully and you you will see that like no the the things do make this kind of a common sense ok. So so we will look at the systems from that perspective like ok observe keenly ok why this particular feature people might have put in the in this system for example CD-ROM drives why they have like no something like compliant mechanisms ok. So these are the kind of questions that you can ask yourself like no once you see ok how this is placed how this is designed how this is you know what are the components that are used ok why those components only why not any other kind of components. These are the kind of questions you typically typically tend to ask yourself and observing this keenly finding the answers to these questions then like no you will get get to know some like a very interesting kind of a fun days that commonly will be difficult to teach in any of the you know formal theoretical kind of a course ok. So that is so that is what our approach would be like no that ok we understand the mechatome systems from their already existing knowledge that is in there in the domain in the form of many different products. We will learn from that and then like no while designing new products we make use of the fundamentals that are learned from already you know existing kind of a products ok. So we use our existing knowledge learning and apply it to whatever like no these observations that we are carrying out and then like no expand our domain of understanding that is a process that we will go through ok. At least for like no to begin with we will do that for a couple of systems and then like no we will get a feel of that and then like no we will see how do we kind of like no apply this now to a new kind of a system or products that we that we want to develop ok. So this all is learning here will come out of some fundamental laws some basic kind of a laws that you must know then some keen observations of existing stuff and things around and then of course the common sense and simple kind of a geometry and calculus fundamentals that we need and microprocessors fundamentals is what again we will have as a prerequisite here and signal for suppressing fundamentals is we will be built in the in this course ok. So all these things put together will be is like no sufficient for getting a really interesting mechatronics application kind of going ok alright. Now I would like to you to kind of look at like no take some of these systems you can take one of one or more of these systems and like no think ok how they would be working ok and I want you to not like no directly go to see right now like no so much of a information is available on the net and we tend to kind of like no immediately go this is and find out ok how things happen ok. I do not want you to do that I mean you know I want you to first think about how what you think suppose you are whatever our knowledge right now you have you have you are to design some kind of a application such as these what will what comes to your mind first ok what is that you will do see why we need to do this because like no that will when you see now after this thought you lot of questions will be raised in your mind and now when you see this let me switch on to myself so so you know when you kind of like no look at these you know think about these systems yourself like ok say for example CD-ROM drive I take a CD and like no see ok well these are the tracks that might have like no so I want to read some tracks ok what is a system that could be there inside that will have a head or something to position to kind of read the track ok it is touching or maybe not touching I don't know but like no what kind of system would be existing so if I want to design really will I design like no the system which will touch the CD surface and then get the information or I will design a system which will not touch the surface and get the system I mean the information out of the CD like that you think about all that is you know possibility for based on whatever knowledge that you have to begin with you will start kind of like no you may be wrong in doing whatever things doesn't matter ok your thinking is what is more important here that thinking will generate a good mindset in inside you that will be now very ripe for accepting like or like no registering the the solution that are existing you know what when you kind of actually go to the website and like no look at these solutions that people have actually like no D1 and so so if you go to this website of howstofwords.com you will find like no most general kind of information about how the systems work they may not have very particular kind of information but like no you'll find essentially what is needed like no to kind of see ok how people have kind of designs the systems and what are what technologies are in place to get this thing working so this is the exercise that I would like you to do ok so I'm switching back to the slides again so you can look at all these systems or maybe like no as many possible systems and some of them will take actually for like no more detailed kind of a study ok as we as we progress in in this course ok so so what building mechatronics system what you need ok so first and foremost is like no conceiving idea ok or like no given abstract problem you first conceive idea in terms of like no defining like ok what is exactly problem that is to be solved and can I divide it into many sub problems to be solved ok and for each of the sub problems I'll kind of like no give or conceive new some idea or solutions for for that ok and so this ability to kind of like no given a bigger kind of a problem to break it into like no many kind of a smaller sub problems is very very important you know we are not tuned to that kind of a thinking so far because like no many courses whatever you are going through have typically like no given this kind of a problem defined completely ok and when the problem is defined completely you solving it is easy but how will you define a problem in the first place ok to solve some kind of a abstract kind of a application ok how do you define the what is the problem to be solved in terms of like no mathematics or technology the problem that is to be solved ok that is a task is we are not used to that task I would say ok so we should kind of like no look at how do we kind of you know develop the skill to see through ok what is the problem that is to be solved and then other kind of a skills that we need for these ability to build like not manufacture things ok so so in both in the domain of mechanical and electronics we need to have this kind of a some kind of a skill set to know what kind of a manufacturing ideas can be used to kind of like no develop some certain things ok and so we will take this example later like no building you have to build some kind of a motion control platform for given some specifications ok that is an example we will do for many different kind of specifications what are different technologies how does specifications change the technology for like no development of such things and ok so like that we will kind of like no study from really a different perspective that you might not probably have been exposed to so far ok so that is what like you know we will look through in this course so now coming to course contents like as you might have read in the syllabus also that we look at like no first these applications and like no different constituents that are necessary to kind of like no build these mechatronics systems so sensors actuators like no your plant and controller ok so you need to have a fair understanding of these each of these elements and then like no you'll understand how they they can be put together to kind of like no drive any interesting application or a solid problem ok so so we will have some kind of a hands-on experience now we will see these how these hands-on experience can be built so for this we may not have much kind of we'll do mostly like no some kind of a video-based understanding here or some kind of a I have some actually open stuff here I put some kind of a slides about this and then like no we'll discuss like no what we observe ok so we'll look we'll do that with couple of such systems like no CD-ROM drives hard drives or some some kind of systems like that ok then we will study very important aspect of mechanics which is like no integrated mechanical and electronics design philosophy ok so typically we are accustomed to thinking only in mechanical domain or mechanical engineers all electronics engineers only in the electronics domain they'll think but now if you want to put together a mechanical system like your decisions in mechanical domain may get affected by like no what is possible or not possible or what is easily possible in electronics domain and vice versa ok so these aspects is what is you know very important for a mechanical engineer to be to understand or like no mechanical system designer to understand so that he or she can put together a system which has you know plus of both the sides like you know or you are not compromising on like no too much into like no for demanding some kind of a way of the way you know mechanical things to be done you are demanding too much on the electronic side no that that is not there should be well balanced kind of a design or some somewhat kind of optimum design from both the domains perspective ok that is what we will learn and then then microcontrollers will get into much more details about then we will look at like no the quite good amount of details we will spend on like no how do you kind of design control for practical working of system C control traditionally will have a lot of mathematical control and what it is if you open like no if you just search this area of control like no there are tons of like no like no like several papers on many many different kinds of controllers people have developed and designed out of them like only some subset would be actually worthwhile to look at from the practical implementation perspective all others are like no theoretically working fine but in practice they may not have any kind of like no possibility or feasibility one to kind of implement ok or even if the feasibility is there it is that such an additional cost that you know it is prohibitively restrictive ok so so we look at like no these controllers which are mainly like no practically feasible for for controlling like no say for example to control linear system or nonlinear system with a rigid body ok which is fully actuated what are the what is the best control ok those are kind of questions that we will deal with in these in these discussions ok or if you have underactuated kind of a compliant system what is the kind of a control that we will do so that like we achieve our application without having like no too many disturbances or vibrations coming on because of the compliance in the system then there are nonlinearities such which are practically unavoidable which is like friction black backlash and noise so how do you kind of like no deal with them and finally like some fundamentals about digital control ok the way the control is implemented see whatever mathematics that we do is is all like no continuous in nature ok and even what you are learning in Mac course or you have learnt in Mac course is all like no continuous domain suppose now but actual practical implementation is a micro micro controller which is doing in a in a sampling time implementation so what is happening to the system dynamics because of the sampling ok that is a domain of discussion in the digital control so we will touch upon some of the aspects there and finally what we need is the signal processing for mechatronics ok so these these are the things that we are going to kind of look at ok so this signal processing is an in integral part of any of the mechatronics system ok you need you need to have a good understanding of signals their sampling rates and like you know how do you process them to kind of make sure your application is running in a in a best possible way and then maybe if your time permits we can touch upon some of the advanced topics there ok apart from this if you feel ok there is something that you would like to kind of look at in this and maybe you can propose and like we will take a look at ok these are the course course set ok so that is what like now I am been talking about like you know conceive this new mechatronic product ok is what we will we will have this skill that is here to be take take away from this course ok how do you kind of conceive this and develop that idea further ok to to realize into a product ok so you will be able to control actuators like motor voice commands you know in a close loop and understand like these are more details kind of a little small sub goals or like you know sub parts of these goals that or skills that you learn as a part of this course then how do you interface sensors with microcontroller ok using various different kind of interfaces that are there so so you may not have close loop control application but you just have some kind of a observation of some phenomena in a nice way to be done this will be very helpful or if you want to develop control control of course this will be definitely helpful then develop skills to choose controller I mean the sensors and actuators and microcontroller for a given application ok so this is again another very useful practical kind of a skill that you must have to kind of like you know get a good mechatronics system working ok then next skill is about like you know developing reasonable mathematical control or model first and then the control and or control amenable model here I am saying for system condition and then ability to decide designer control ok and once you have designed controller then we need to see through some signal processing aspect for control implementation to kind of get the smooth working of the entire system going ok so these are like no more kind of a skills that you slowly learn as a part of this course these are kind of goals that we said for our course ok foundations that I am assuming here is like no fundamentals of microprocessor and any one microprocessor programming experience or any other kind of a system it's ok but you need to have a good experience at least you should have a when I say good experience you should have driven motor by using like no one of these controllers or microcontrollers ok if you have done in the closed loop mode that is great but even if you have not they were done but like no you need you have interface some other sensors is ok ok so that is what is a base foundation I am assuming ok and we will work in this course on this Tiva board which is from Texas Instruments and it is ARM Cortex kind of you know series microcontroller so that is what we'll use in this course with a code composer studio as a as a emulator on the as a as a software to program it basically then you need to have basics of mechanics like no kind of in terms of kinematics and dynamics of rigid bodies and particles ok that is what again will be foundation that is assumed and your skills in drawing and solid modeling is what you will be assumed here like no you have enough kind of foundation in terms of drawing if you either drawing you make sense of it and like no if you you have some kind of a way to kind of do the solid model it to kind of 3d print some of the parts for your project you know you should be able to do that and then basic skills in manufacturing ok these are the kind of fun days that are assumed of course now we may not like no have a chance to demand or like you know depending upon when the things situation get better what things that you have locally you know they depend upon that one like no these machines may not be used in this project in this course probably too much ok but we'll see how we can kind of do some of the things without even like no having or like no having getting some local access to these things to kind of do some stuff ok these are some of the textbooks for the course and there is no one single kind of a book unfortunately ok so have fun in learning this new exciting course on no I would say the latest applications which are kind of this technology is driving this latest application so you can enable yourself like no by doing this course to be in the forefront of like no some of these or many of these applications ok alright thank you very much