**GRASP**@ Ontario Tech University

# Mechatronic Modeling and Design with Applications in Robotics

## Course Description

This course will introduce a unified multi-domain modeling tool, named Linear Graph and its applications. It provides students with the tools required to design, model, analyze and control mechatronic systems; i.e. smart systems comprising electronic, mechanical, fluid and thermal components. The techniques for modelling various system components will be studied in a unified approach developing tools for the simulation of the performance of these systems. A comprehensive example of the modeling and design of a mobile robotic system will be included and discussed.

Students who successfully complete the course should have reliably demonstrated the ability to:

- Use the basic tools required to design, model, analyze and control mechatronic systems
- Work with smart systems comprising electronic, mechanical, fluid and thermal components
- Model a wide variety of system components in a unified way
- Analyze various components needed to design and control mechatronic systems
- Apply AI and Machine Learning in advanced design and optimization

Reference Books: |
Clarence W. de Silva, Mechatronics: A Foundation Course, CRC Press, 2010. LinkHaoxiang Lang, Eric McCormick and Clarence W. de Silva, Appendix B: Matlab Toolbox for Linear Graphs (Modeling of Dynamic Systems with Engineering Applications, 2nd Edition) Download |

Reference Articles: |
Research and Development of a Linear Graph-based Matlab Toolbox. Download Automated Multi-domain Engineering Design through Linear Graphs and Genetic Programming. arxiv Dynamic Modeling and Simulation of a Four-wheel Skid-Steer Mobile Robot using Linear Graphs. arxiv |

Matlab Toolbox： |
Linear Graph Matlab Toolbox: gitHub |

Course Evaluation: |
An take-home exam as the final course deliverable. |

Final Take-home Exam： |

## Course Notes

Item | Title | Material |
---|---|---|

Lecture 1 |
Course Overview and Introduction | Slides Notes |

Lecture 2 |
Introduction to Modeling | Slides Notes |

Lecture 3 |
Basic Model Elements | Slides Notes |

Lecture 4 |
Analytical Modeling (Part 1) | Slides Notes |

Homework 1 |
No Due Date |
Homework 1 Solution |

Lecture 5 |
Analytical Modeling (Part 2) | Slides Notes |

Lecture 6 |
Graphical Models | Slides Notes |

Homework 2 |
No Due Date |
Homework 2 Solution |

Lecture 7 |
Linear Graph | Slides Notes |

Lecture 8 & 9 |
Linear Graph Examples | Slides Notes |

Homework 3 |
No Due Date |
Homework 3 Solution |

Lecture 10 |
Frequency Domain Models | Slides |

Lecture 11 |
Transfer-Function Linear Graph | Slides |

Lecture 12 |
AI in Modeling and Design | Slides |

Lecture 13 |
Linear Graph Matlab Toolbox and Examples | Slides |

Homework 4 |
No Due Date |
Homework 4 Solution |