In multiple interaction-state mechatronic devices the interactions between elements of use-environment and elements of the device can have different qualitative structures depending upon the modes of the device operation and the states of the use-environment. This paper describes a modeling framework to support conceptual design of such devices using state transition diagrams. We define the primitives and operators needed in the modeling framework, and illustrate the conceptual design process using these primitives and operators. We believe that the framework described in this paper will provide the underlying foundations for constructing the next generation software tools for the conceptual design of mechatronic devices.

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