Σκοπός της διπλωματικής εργασίας, είναι η κατασκευή ενός κυκλώματος με ανάδραση για τον έλεγχο ενός ηλεκτρομαγνήτη με στόχο την αιώρηση ενός σταθερού μαγνητικού αντικειμένου. / The purpose of the thesis is to build a circuit with feedback in order to control a solenoid to levitate a constant magnetic object.

The servo mechatronic system design process usually covers two different engineering domains: structure design and system control. The relationship between these two domains is much closed. In order to reduce the disturbance caused by parameters in either one, the domain knowledge from those two different fields needs to be integrated. Thus, in order to reduce the disturbance caused by parameters in either one, the mechanical and controller design domains need to be integrated. Therefore, the integrated design method Design For Control (DFC), will be employed in this thesis. In this connect, it is not only applied to achieve minimal power consumption but also enhance structural performance and system response at same time. To investigate for the integrated design method, there are two common servo mechatronic systems: feed drive system and legged servo mechatronic system are used as the design platform. 1. Mechatronic Feed Drive System To investigate the method for integrated optimization, a mechatronic feed drive system of the machine tools is used as a design platform. The 3D software, Pro/Engineer is first used to build the 3D model to analyze and design structure parameters such as elastic deformation, nature frequency and component size, based on their effects and sensitivities to the structure. Additionally, in order to achieve system robust, Quantitative Feedback Theory (QFT), will be applied to determine proper control parameters for the controller. Therefore, overall physical properties of the machine tool will be obtained in the initial stage. Following this Design Then Control process, the iterative design process is following to enhance some of system performance. Finally, the technology design for control will be carried out to modify the structural and control parameters to achieve overall system performance. Hence, the corresponding productivity is expected to be greatly improved. 2. Legged Servo Mechatronic System The goal of this study is to develop a one-degree-of-freedom (DOF) legged servo mechatronic system with DFC. For this system, the kinematics and control dynamic analysis of legged servo mechatronic system have been solved by using four bar linkage with symmetrical coupler point, pantograph, and common position and velocity controller. In addition, in order to improvement system dynamic performance and reduce the control cost, the counterweight, that base on mass redistribution is employed to integrate structure and control into one design step for reduce shaking moment. Additionally, in order to improvement the system performance, the complete force balance is not only to take advantage of control cost, but also easy to control.

This thesis focuses on assistive and rehabilitation technology for restoring the function of the hand. It presents three different approaches to assistive technology: one in the form of an orthosis, one in the form of a brain-computer interface combined with functional electrical stimulation and finally one totally aiming at rehabilitating the nervous system by restoring brain function using the concept of neuroplasticity. The thesis also includes an epidemiological study based on statistics from the Swedish Hospital Discharge Register and a review on different methods for assessment of hand function. A novel invention of an orthosis in form of a light weight glove, the SEM (Soft Extra Muscle) glove, is introduced and described in detail. The SEM glove is constructed for improving the grasping capability of a human independently of the particular task being performed. A key feature is that a controlling and strengthening effect is achieved without the need for an external mechanical structure in the form of an exoskeleton. The glove is activated by input from tactile sensors in its fingertips and palm. The sensors react when the applied force is larger than 0.2 N and feed a microcontroller of DC motors. These pull lines, which are attached to the fingers of the glove and thus work as artificial tendons. A clinical study on the feasibility of the SEM glove to improve hand function on a group of patients with varying degree of disability has been made. Assessments included passive and active range of finger motion, flexor muscle strength according to the Medical Research Council (MRC) 0-5 scale, grip strength using the Grippit hand dynamometer, fine motor skills according to the Nine Hole Peg test and hand function in common activities by use of the Sollerman test. Participants rated the potential benefit on a Visual Analogue Scale. A prototype for a system for combining BCI (Brain-Computer Interface) and FES (Functional Electrical Stimulation) is described. The system is intended to be used during the first period of recovery from a TBI (Traumatic Brain Injury) or stroke that have led to paresis in the hand, before deciding on a permanent system, thus allowing the patients to get a quick start on the motor relearning. The system contains EEG recording electrodes, a control unit and a power unit. Initially the patients will practice controlling the movement of a robotic hand and then move on to controlling pulses being sent to stimulus electrodes placed on the paretic muscle. An innovative electrophysiological device for rehabilitation of brain lesions is presented, consisting of a portable headset with electrodes on both sides adapted on the localization of treatment area. The purpose is to receive the outgoing signal from the healthy side of the brain and transfer that signal to the injured and surrounding area of the remote side, thereby having the potential to facilitate the reactivation of the injured brain tissue. The device consists of a control unit as well as a power unit to activate the circuit electronics for amplifying, filtering, AD-converting, multiplexing and switching the outgoing electric signals to the most optimal ingoing signal for treatment of the injured and surrounding area. / <p>QC 20130403</p>

La conception d'un système complexe est une étape cruciale. Ce constat est particulièrement vrai dans le cadre de la conception de systèmes mécatroniques, multi technologies et nécessitant une approche pluridisciplinaire et collaborative. Nous nous plaçons ici dans le cadre de l'Ingénierie Système (IS) qui se focalise sur la définition des besoins et des exigences, la recherche de concepts, puis la définition d'architectures fonctionnelles et organiques d'un système. L'IS promeut pour cela un certain nombre de concepts, de processus et une démarche maintenant éprouvés en industrie, souvent normalisés tout en faisant l'objet de nombreux travaux de recherche. En particulier, nous nous intéressons ici à un processus dit support de l'IS, le processus d'évaluation. Nous nous focalisons particulièrement sur l'évaluation de l'efficacité puis la comparaison des différentes solutions d'architectures fonctionnelles et organiques d'un système mécatronique qui émergent invariablement de la conception. Le but de ce processus est de guider et d'aider au choix, parmi ces architectures candidates mais souvent incomplètes ou à tout le moins immatures en début de conception, d'une solution permettant de maximiser la satisfaction des besoins de toutes les parties prenantes du système. La mise en œuvre de cette évaluation se heurte à plusieurs difficultés. Tout d'abord, la vision consensuelle et unifiée de données, informations et connaissances mais aussi des activités proprement dites d'évaluation, ‘au-dessus' des métiers impliqués dans la conception, reste limitée. C'est un premier verrou traité dans ces travaux car son absence est ainsi un frein à l'évaluation objective et partagée d'une solution. Pour contribuer à cette vision consensuelle, il est proposé un modèle conceptuel des données de l'évaluation en ingénierie système. Ensuite, l'estimation des conséquences des choix tout au long d'une conception résolument itérative et qui procède donc à petits pas, le traitement d'objectifs multiples voire contradictoires et la prise en compte de l'incertitude propre à la conception sont autant de problèmes classiques en conception. C'est le verrou central sur lequel ce travail a porté. L'estimation des choix de conception est traitée d'abord par une formalisation des liens de traçabilité entre les exigences, fonctions et composants de la conception. Cette formalisation est un préalable à la détection et correction des incohérences des liens de traçabilité en vue de l'identification automatisée des impacts potentiels des choix d'élément d'architecture sur les différents critères de satisfaction du système à faire. Une articulation entre les modèles de comportement du système à faire et les modèles de décision est ensuite proposée pour agréger le degré de satisfaction des objectifs de la conception, et ainsi assurer la gestion des objectifs multiples voire opposés des parties prenantes. Des techniques d'évaluation qualitative sont enfin proposées afin de trier les alternatives de solution de conception selon leur degré de satisfaction en tenant compte du niveau de maturité croissant mais incertain de la solution. Enfin, on peut regretter le manque d'un environnement de travail permettant de modéliser le système et de procéder aux analyses et évaluations de la solution. Les deux contributions synthétisées ci-dessus ont donc fait l'objet d'une intégration dans un atelier d'IS existant, offrant ainsi un continuum entre activités de conception et activités d'évaluation. Le résultat est ainsi un guide méthodologie outillé pour l'évaluation de systèmes mécatroniques en conception. Mots clés : Ingénierie Système, conception, évaluation, système complexe, système mécatronique, solution d'architecture, traçabilité, analyse qualitative. / The design step of a complex system is crucial. This observation is particularly true, when considering mechatronic, multi-technological systems, which require a multidisciplinary and collaborative approach. Our work is based on the System Engineering (SE) framework, which focuses on the needs and requirements definition, the conceptual design, and the definition of functional and organic architectures of a system. For this purpose, SE promotes some concepts, processes, and an approach currently widely practiced in the Industry, and even standardized while being a much studied research topic. More precisely, we are interested in a so-called support process of SE, the evaluation process. We are focusing on the effectiveness evaluation and then on the comparison of different functional and organic architecture solutions of a mechatronic system, which emerge invariably from the design. The goal of this process in guiding and helping to choose a solution among candidate architectures, often incomplete or immature in preliminary design, allows maximizing the satisfaction of the systems' stakeholders needs. However, the implementation of this evaluation faces to many difficulties. The consensual and unified vision of data, information, knowledge, and evaluation activities, above specialized engineering teams involved in the design, is still limited. Indeed, the lack of this common vision limits the objective and shared evaluation of a given solution. This is a first problem that we are addressing in our work. To contribute to this common vision, a conceptual model of evaluation data in SE is proposed.Subsequently, the estimation of the choices made all along such an iterative design, and which therefore proceeds by small steps, the management of multiple objectives sometimes contradictory and the consideration of the uncertainty inherent to design are classic problems in design. This constitutes the main problem which our work is answering. The estimation of the consequences of design choices on the system performance is first addressed by a formalization of traceability links between the requirements, functions, and components of the design. This formalization is prior to the detection and correction of inconsistencies of traceability links, in order to automatically identify potential impacts of the architectures' elements choices on different satisfaction criteria of the System Of Interest (SOI). An articulation between the SOI behavioral models and decision models is afterwards proposed for aggregating the satisfaction level of the design objectives, and then ensure the management of multiple and even contradictory objectives of the designers. Qualitative evaluation techniques are finally proposed for sorting the alternative design solutions according to their satisfaction level while considering the increasing maturity level but uncertain of the solution.Lastly, we often denote the lack of integrated environment for modeling the system and proceeding to the analyses and evaluations. The two above synthesized contributions have been integrated into a SE framework, offering a continuum between design activities and evaluation ones. The result is thereby a methodological and tooled guide for mechatronic systems evaluation during design. Keywords: System Engineering, design, evaluation, complex systems, mechatronics, architecture solution, traceability, qualitative analysis.

Les systèmes mécatroniques sont caractérisés par la combinaison synergique de la mécanique, de l'électronique et de l'informatique en temps réel. Ils possèdent leur propre cycle de vie et doivent associer des expertises métiers et des technologies très variées, ce qui rend leur conception plus complexe et nécessairement plus intégrée. Afin de mettre en œuvre une approche permettant d’assurer une meilleure intégration fonctionnelle et spatiale des systèmes mécatroniques, et plus particulièrement sur l’axe développement de produit en assurant une meilleure combinaison des expertises métier, deux types de problématiques doivent être surmontés. La première problématique a trait aux données de conception alors que la seconde est relative aux processus. La contribution de nos travaux de thèse s’appuie sur deux concepts complémentaires. Le premier, un modèle d’interfaces multidisciplinaires, est proposé pour répondre à la problématique relative aux données de conception. Ces interfaces s’appuient sur l’architecture du système et précisent quels transferts existent entre les composants conçus par les différentes disciplines. Instanciées dans le modèle de données, les interfaces multidisciplinaires permettent d’échanger et de partager les informations entre les différentes disciplines. Le second concept concerne la méthode de conception basée sur le modèle d’interfaces multidisciplinaires. Cette méthode est définie pour pouvoir établir le processus d’ingénierie et permettre une meilleure intégration des expertises métiers tout au long de la conception des systèmes mécatroniques. Enfin, les deux propositions sont implémentées par l’intermédiaire d’un démonstrateur basé sur 3DEXPERIENCE Platform. Un système de mesure 3D, combinaison synergique de la mécanique, de l'électronique, de l'informatique et l’optique, est utilisé afin de démontrer et de valider les contributions par nos travaux en termes d'intégration multidisciplinaire des expertises métier lors de la conception des systèmes mécatroniques. / Mechatronic system is considered as a synergetic combination of mechanical engineering, electronic engineering and computer engineering. Such mechatronic system has its own lifecycle and should integrate different disciplines and various technologies. Therefore the design of mechatronic systems becomes increasing complex. In order to propose an approach to achieve a better functional and spatial integration of mechatronic systems, especially to achieve a higher integration of different disciplines during the design process of mechatronic systems, two kinds of problems must be overcome. The first problem is related to design data of mechatronic systems while the second is related to the design process. The contribution of the thesis is based on two complementary concepts. The first contribution, the multi-disciplinary interface model, is proposed to address the issue of design data. These interfaces are based on the system architecture and specify which transfers exist between components designed by the project teams of different disciplines. Instantiated in the data model, multi-disciplinary interfaces enables a better data exchange and sharing among the engineers of different disciplines. The second concept concerns the design method based on the multi-disciplinary interface model. This method is proposed to establish the process for mechatronic engineering in order to achieve a better multi-disciplinary integration for the design of mechatronic systems. Finally, the two propositions are then implemented in a demonstrator developed based on 3DEXPERIENCE Platform. A 3D measurement system, considered as a synergistic combination of mechanical engineering, electronic engineering, computer engineering and optical engineering, is used to demonstrate and validate the propositions of the thesis in terms of multi-disciplinary integration for the design of mechatronic systems.