Acting as a support resource for practitioners and professionals looking to advance their understanding of complex mechatronic systems, Intelligent Mechatronic Systems explains their design and recent developments from first principles to practical applications. Detailed descriptions of the mathematical models of complex mechatronic systems, developed from fundamental physical relationships, are built on to develop innovative solutions with particular emphasis on physical model-based control strategies. Following a concurrent engineering approach, supported by industrial case studies, and drawing on the practical experience of the authors, Intelligent Mechatronic Systems covers range of topic and includes: An explanation of a common graphical tool for integrated design and its uses from modeling and simulation to the control synthesis Introductions to key concepts such as different means of achieving fault tolerance, robust overwhelming control and force and impedance control Dedicated chapters for advanced topics such as multibody dynamics and micro-electromechanical systems, vehicle mechatronic systems, robot kinematics and dynamics, space robotics and intelligent transportation systems Detailed discussion of cooperative environments and reconfigurable systems Intelligent Mechatronic Systems provides control, electrical and mechanical engineers and researchers in industrial automation with a means to design practical, functional and safe intelligent systems.

This book provides control engineers and workers in industrial and academic research establishments interested in process engineering with a means to build up a practical and functional supervisory control environment and to use sophisticated models to get the best use out of their process data. Several applications to academic and small-scale-industrial processes are discussed and the development of a supervision platform for an industrial plant is presented.

Model-based fault detection and isolation requires a mathematical model of the system behaviour. Modelling is important and can be difficult because of the complexity of the monitored system and its control architecture. The authors use bond-graph modelling, a unified multi-energy domain modelling method, to build dynamic models of process engineering systems by composing hierarchically arranged sub-models of various commonly encountered process engineering devices. The structural and causal properties of bond-graph models are exploited for supervisory systems design.

The structural properties of a system, necessary for process control, are elegantly derived from bond-graph models by following the simple algorithms presented here. Additionally, structural analysis of the model augmented with available instrumentation indicates directly whether it is possible to detect and/or isolate faults in some specific sub-space of the process. Such analysis aids in the design and resource optimization of new supervision platforms.

Static and dynamic constraints, which link the time evolution of the known variables under normal operation, are evaluated in real time to determine faults in the system. Various decision or post-processing steps integral to the supervisory environment are discussed in this monograph; they are required to extract meaningful data from process state knowledge because of unavoidable process uncertainties. Process state knowledge has been further used to take active and passive fault accommodation measures.

Several applications to academic and small-scale-industrial processes are interwoven throughout. Finally, an application concerning development of asupervision platform for an industrial plant is presented with experimental validation.

Model-based Process Supervision provides control engineers and workers in industrial and academic research establishments interested in process engineering with a means to build up a practical and functional supervisory control environment and to use sophisticated models to get the best use out of their process data.

Acting as a support resource for practitioners and professionals looking to advance their understanding of complex mechatronic systems, "Intelligent Mechatronic Systems" explains their design and recent developments from first principles to practical applications. Detailed descriptions of the mathematical models of complex mechatronic systems, developed from fundamental physical relationships, are built on to develop innovative solutions with particular emphasis on physical model-based control strategies.

Following a concurrent engineering approach, supported by industrial case studies, and drawing on the practical experience of the authors, "Intelligent Mechatronic Systems" covers range of topic and includes:

An explanation of a common graphical tool for integrated design and its uses from modeling and simulation to the control synthesis

Introductions to key concepts such as different means of achieving fault tolerance, robust overwhelming control and force and impedance control

Dedicated chapters for advanced topics such as multibody dynamics and micro-electromechanical systems, vehicle mechatronic systems, robot kinematics and dynamics, space robotics and intelligent transportation systems

Detailed discussion of cooperative environments and reconfigurable systems

"Intelligent Mechatronic Systems" provides control, electrical and mechanical engineers and researchers in industrial automation with a means to design practical, functional and safe intelligent systems.

Following a concurrent engineering approach, supported by industrial case studies, and drawing on the practical experience of the authors, "Intelligent Mechatronic Systems" covers range of topic and includes:

An explanation of a common graphical tool for integrated design and its uses from modeling and simulation to the control synthesis

Introductions to key concepts such as different means of achieving fault tolerance, robust overwhelming control and force and impedance control

Dedicated chapters for advanced topics such as multibody dynamics and micro-electromechanical systems, vehicle mechatronic systems, robot kinematics and dynamics, space robotics and intelligent transportation systems

Detailed discussion of cooperative environments and reconfigurable systems

"Intelligent Mechatronic Systems" provides control, electrical and mechanical engineers and researchers in industrial automation with a means to design practical, functional and safe intelligent systems.

An explanation of a common graphical tool for integrated design and its uses from modeling and simulation to the control synthesis

Introductions to key concepts such as different means of achieving fault tolerance, robust overwhelming control and force and impedance control

Dedicated chapters for advanced topics such as multibody dynamics and micro-electromechanical systems, vehicle mechatronic systems, robot kinematics and dynamics, space robotics and intelligent transportation systems

Detailed discussion of cooperative environments and reconfigurable systems

"Intelligent Mechatronic Systems" provides control, electrical and mechanical engineers and researchers in industrial automation with a means to design practical, functional and safe intelligent systems.

Introductions to key concepts such as different means of achieving fault tolerance, robust overwhelming control and force and impedance control

Dedicated chapters for advanced topics such as multibody dynamics and micro-electromechanical systems, vehicle mechatronic systems, robot kinematics and dynamics, space robotics and intelligent transportation systems

Detailed discussion of cooperative environments and reconfigurable systems

"Intelligent Mechatronic Systems" provides control, electrical and mechanical engineers and researchers in industrial automation with a means to design practical, functional and safe intelligent systems.

Dedicated chapters for advanced topics such as multibody dynamics and micro-electromechanical systems, vehicle mechatronic systems, robot kinematics and dynamics, space robotics and intelligent transportation systems

Detailed discussion of cooperative environments and reconfigurable systems

"Intelligent Mechatronic Systems" provides control, electrical and mechanical engineers and researchers in industrial automation with a means to design practical, functional and safe intelligent systems.

Detailed discussion of cooperative environments and reconfigurable systems

"Intelligent Mechatronic Systems" provides control, electrical and mechanical engineers and researchers in industrial automation with a means to design practical, functional and safe intelligent systems.

"Intelligent Mechatronic Systems" provides control, electrical and mechanical engineers and researchers in industrial automation with a means to design practical, functional and safe intelligent systems."

Ce memoire de l'Habilitation a Diriger des Recherches presente les principaux resultats de recherche des differents travaux realises dans le domaine de la modelisation et de l'utilisation de ces modeles bond graph pour la supervision des processus. Les principales contributions dans le domaine de la modelisation concernent: la commande et la modelisation des procedes chimiques en vue de diminuer le taux de pollution, l'utilisation des bond graphs multienergies, la modelisation des processus de generation de vapeur a l'aide des equations a derivees partielles et bond graph, et enfin une demarche de linearisation des bond graphs couples. Les outils de modelisation developpes sont systematiquement introduits dans des methodologies de conception de systemes de supervision. Dans ce domaine, les contributions sont: la surveillabilite des actionneurs, la generation formelle des indicateurs de fautes et enfin la conception d'un logiciel pour la generation automatique des algorithmes de supervision pour la detection et l'isolation des fautes et un placement de capteurs pour la surveillance des equipements pertinents.