A set of routines is developed using the MATLAB software package to aid students in learning methods of frequency response analysis. Routines are menu driven which would require minimum knowledge of MATLAB commands. A rapid sketch of asymptotic Bode plots is emphasized which is the basis for the lead, lag, and lead-lag compensator design techniques in the first control course taught at Western New England College.

This paper presents a collection of M files created for applications of MATLAB software in graduate and undergraduate engineering classes. Starting with the simple need of printing a difference table, presented in order of increasing difficulty of numerical procedural setup and programming arrangement are M files for volume integration, animation of a rotating block, Runge-Kutta solution of a nonlinear oscillation problem, and solution of a warping function governed by Laplace equation using the relaxation method. Threading through these M files are the demonstrative applications of MATLAB’s own M files and its graphics commands and vector operations.

Matlab is a powerful mathematical package that has numerous functions for engineering applications, such as signal processing. Simulink is an add-on package for Matlab that gives a graphical user interface for creating and simulating block diagrams. Matlab has another add-on package, the Real-Time Workshop, which is an interface between the data acquisition adapters and Simulink. This package adds real-time data acquisition, which allows data to be acquired and analyzed. The system design is done in a graphical interface using block models. A servo system was designed and modeled using the Real-time Workshop. Matlab is a powerful tool that can be used for real-time data acquisition and control systems.

The rapid prototyping of fuzzy logic controllers is accomplished by using the tools Matlab, Simulink, Fuzzy Logic Toolkit, and Real-Time Workshop. Device drivers were developed for Simulink for interfacing with DT2801 and DT2821 data acquisition boards. The fuzzy logic inference engine for the Fuzzy Logic Toolkit was modified to allow the systems to work as independent programs and to be downloadable to DSP (Digital Signal Processing) boards. Simulink is used to graphically implement fuzzy logic controllers. The Real-Time Workshop is used to compile blocks from Simulink into C code, then into an independent executable program, both on the PC and a dSpace DSP (Digital Signal Processing) board. Graphical interfaces are created and debugged by using dSPACE’s tools, Cockpit and Trace. By combining these tools, real-time fuzzy logic controllers are developed in laboratory environments.

A serial-parallel robot has the high stiffness and accuracy of a parallel robot, and a large workspace and compact structure of a serial robot. In this paper, the resolved force control algorithm is derived for serial-parallel robots, including a 3-articulated-arm platform robot, a linkage robot, and two cooperating serial robots. A S matrix is derived to relate joint torque to the external load. Using the principle of virtual work, S is used in resolved rate control algorithm to relate the tool velocity to joint rate. S can be easily expanded to the control of redundant actuation, and it can be used to interpret singularity. MATLAB is used to verify these control algorithms with graphical motion animation.

Controller constants play an important role in electric drive system dynamics. The vector control permits to consider the induction motor as an equivalent separately excited DC machine, as a result, the dynamics of the two machines are compared. Experimental realization and computer simulation are constructed under PI and PID controllers. A sensitivity study for the controllers constants and for the machines time constant is carried out and demonstrated for both machines under the same conditions. The computer simulation of the electric drive systems is constructed using the MATLAB-SIMULINK software package.

The problem of accurate determination of object position from imprecise and excess measurement data arises in kinematics, biomechanics, robotics, CAD/CAM and flight/vehicle simulator design. Several methods described in the literature are reviewed. Two new methods which take advantage of the modern matrix oriented software (e.g. MATLAB, IMSL, EISPACK) are presented and compared with a “basics” method. It is found that both of the proposed decomposition methods (I: SVD/QR and II: SVD/QS) give better absolute results than a “basic” method available from the text books. On a relative basis, the second method (SVD/QS Decomposition) gives slightly better results than the first method (SVD/QR Decomposition). Examples are presented for the cases when the points chosen are nearly dependent and when the independent points have small random errors in their coordinates.

The focus of this paper is on designing compliant mechanism amplifiers for piezoelectric actuators using a topology optimization approach. Two optimization formulations are developed: one in which the overall stroke amplification or geometric advantage (GA) is maximized, and another where the mechanical efficiency (ME) of the amplifier is maximized. Two solution strategies are used, Sequential Linear Programming (SLP) and an Optimality Criteria method, and results are compared with respect to computation time and mechanism performance. Design examples illustrate the characteristics of both problem formulations, and physical prototypes have been fabricated as proof of concept. An automated detail design procedure has also been developed which allows the topology optimization results obtained in MATLAB to be directly translated into a neutral 3-D solid geometry format for import into other CAE programs.

In this paper we introduce the MATLAB-based SDAMP (pronounced stamp) software for the analysis and synthesis of several mechanical press linkages. These linkages include the slider-crank and the four six-bar mechanisms formed by attaching a drag-link, crank-rocker, crank-shaper or Whitworth mechanism to a slider-crank. SDAMP performs four basic tasks: guided layout, kinematic analysis, mechanism refine and kinematic synthesis. Guided layout leads the user through joint selection to ensure a functioning mechanism. Kinematic analysis displays the position, velocity, acceleration and jerk of the sliding output versus the rotation of the input link. Mechanism refine allows the user to vary the geometry of an existing mechanism towards the goal of achieving a desired kinematic analysis. Lastly, kinematic synthesis determines the set of defect-free slider-cranks capable of achieving four precision points. All of these capabilities are integrated through a host of GUI driven MATLAB files in SDAMP.

This paper describes a cam mechanism synthesis and analysis software CamSyn based on Matlab platform. The key feature of this software is its ability to synthesize a cam system with arbitrary follower motion functions. In particular, CamSyn can synthesize a cam profile for multi-rise and multi-return follower displacement functions and is therefore not restricted to typical single dwell-rise-return motion functions. Design examples are given to demonstrate the effectiveness of the software. The underlying design methods and strategies implemented in this software are well known in the published literature.

One of the most important aspects of engineering education is problem solving. This paper intends to show how MATLAB can be utilized to solve various problems in science and engineering. A simple vibration problem is solved using MATLAB’s ODE solver to illustrate the excellent capability of MATLAB in numerical integration of matrix differential equations.

A model has been developed to design a new active, steerable end-effector for minimally invasive surgery. Active material is incorporated into the surgical instrument to increase the degrees of freedom available to the surgeon. This paper focuses on the modeling of the end-effector using both piezoelectric ceramic and electroactive polymer (EAP) materials. The end-effector design consists of a number of bimorph actuator sections in series with each active layer being individually controlled. Each section may behave as either a bimorph or a unimorph actuator, where in the case of unimorph one of the active layers is passive. By varying the strength and direction of the electric field across each section, a prescribed overall shape can be achieved to allow the user to steer the device. The piezoceramic device is modeled using strain energy methods to predict the quasi-static force-deflection behavior. In the EAP model, experimental data for the electrostrictive P(VDF-TrFE) copolymer is used to model the non-linear relationship between the electric field and the induced strain. Due to the large deflections achievable with the EAP, a model for large deflections beams is also used. Modeling is carried out using MATLAB and then the behavior of piezoelectric ceramic is compared to that of electro-active polymer (EAP).

This paper intends to present a novel full-vehicle numerical approach for in-wheel and on-board motor Battery Electric Vehicle (BEV) powertrain architectures, which overcomes the electrical and mechanical deficits widely present in the current literature. Namely, neglecting of the interaction between mechanical and electrical phenomena and its impact on the vehicle dynamic performance. A co-simulation approach is employed: whereas the mechanical systems and their interactions are simulated with Adams Car, the electrical phenomena are solved by MATLAB/Simulink. The investigation is conducted over a full throttle maneuver by monitoring a set of performance indicators.

In this paper, the development procedure of an innovative control algorithm is shown, with the aim of improving handling performance of a high-end sport vehicle by actively controlling aerodynamic forces acting on the vehicle itself. The proposed control algorithm operates indirectly by modifying ride-heights of the vehicle through an active suspensions system. The vehicle dynamics analysis is conducted in parallel to the aerodynamics analysis performed in a concurrent engineering operation. The software used for control algorithms development is VI-CarRealTime, in co-simulation with Matlab-Simulink, with an extended use of the MaxPerformance package. Specific tracks have been implemented ad hoc to highlight the effects of the control systems operation in development phase. To better explore the potential of the technique, a fuzzy logic system was developed.

This paper covers the design and implementation of an accurate, yet flexible test system for Lithium-Ion batteries. The system makes use of linear charge and discharge circuitry to ensure a low noise control, and can support the simultaneous and independent testing of six cells. The system is controlled and data collected by specialist MatLab © software with a user-friendly GUI. Experimental data is processed within the same environment to obtain the desired information. The system makes use of Full Cycle Coulomb Counting and Pulsed DC Load Analysis to obtain estimates for the State of Health (SoH) and State of Charge (SoC) of various cells, and to examine the effect of different use cases on cell performance through repeated testing.

Recent attention has been given to acoustic non-reciprocity in metamaterials with nonlinearity. However, the study of asymmetric cells has been limited to mechanical diodes only. There is no work reported on electromechanical rectifiers or diodes. This problem is investigated here by analytically and numerically studying a combination of nonlinear and linear chains coupled with electromechanical resonators. The system is simulated numerically using MATLAB built in integrator and the results are validated by results found in the literature. Numerical examples are carried out to obtain band structure, operation range of electromechanical diode, harvested power, and significant frequency shift, which is demonstrated using spectro-spatial analyses. The observed frequency shift is used to construct an electromechanical diode to guide the wave to propagate in one direction only. This only allows signal sensing for waves propagating in one direction and rejects any other signals. Furthermore, this electromechanical diode is evaluated by calculating the transmission ratio and the asymmetric ratio for a transient input signal.

This paper uses the Reduced Order Model (ROM) as well as the Method of Multiple Scales (MMS) in order to investigate behavior of electrostatically actuated micro-electro-mechanical systems (MEMS) circular plates under superharmonic resonance of third order. ROM is solved using two methods, the first is a continuation and bifurcation approach by using software package called AUTO 07p in order to obtain the voltage response, and the second approach is a numerical integration using the Matlab built in function ode15s for obtaining time responses of the system. Overall MMS and ROM provide similar results, especially in the lower amplitudes. These methods seem to differ at higher amplitudes. The ROM shows a second unstable branch that MMS does not have. The time responses agree with the ROM voltage response. Furthermore, the influences of different parameters such as that of the detuning parameter, and damping are investigated.

The Dynamic Modeling and Analysis Toolbox DynManto is an acedemic Matlab code which allows the modeling, simulation and sensitivity analysis of spatial multibody systems. The kinematics of rigid and flexible bodies is described by the floating frame of reference formulation and the body properties are provided by standard input data files. In this way the evaluation of the equations of motion is computationally efficient and an arbitrary parameterization of the system can be achieved. The latter is important in the automated adjoint sensitivity analysis of multibody systems, which yields gradient information for system analyses, parameter identifications or gradient-based optimizations. The capabilities of DynManto are demonstrated by the application examples of a flexible two-arm manipulator and Chebyshev’s Lambda Mechanism.

This paper discusses a novel optimization method to design statically balanced manipulators. Only springs are used to balance the manipulators composed of revolute (R) joints. Since the total potential energy of the system is constant when statically balanced, the sum of squared differences between the two potential energy when giving different random values of joint variables is set as the objective function. Then the optimization tool of MATLAB is used to obtain the spring attachment points. The results show that for a 1-link manipulator mounted on an R joint, in addition to attaching the spring right above the R joint, the attachment point can have offset. It also indicates that an arbitrary spatial manipulator with n link, whose weight cannot be neglected, can be balanced using n springs. Using this method, the static balancing can be readily achieved, with multiple solutions.

Endoscopic stents are being used by surgeons in off-label uses to manage leaks and perforations in the gastrointestinal tract. Commercially available stents are primarily designed to open strictures in the esophagus through tissue compression. The stents incorporate a woven NiTi wire to produce a stiff and linear tubular shape that conforms to the esophagus. In off-label uses, where the stents are placed in non-esophageal locations the stents must bend, the stents show a high propensity to migrate from their initial location causing unwanted complications. In this paper, a new stent design incorporating functionally graded NiTi is presented and explored. First, a functionally graded NiTi stent design is proposed. Next, a mechanical model using finite element analysis is developed to predict the bending moment and stiffness of the functionally graded stent designs. Finally, the mechanical model is coupled with a genetic algorithm in MATLAB to identify optimal designs. For a 90° bending angle, the best design parameters of the newly proposed flexible stents are found for three different stent design families. The results of the functionally graded stents show how tailoring the material properties locally in a structure can lead to highly compliant behavior. The tailoring of the geometric and material design developed may be applied to design of highly flexible and optimized medical devices.