School of Engineering and the Environment
Department of Mechanical Engineering Coursework
Reassessment Brief
ME7732
Module Code
Module Title
Title of Assessment
Mechatronic Design and Automation
Use of sensors & actuators, and design of controllers for
robotic/mechatronic systems
Summative – this assignment is worth 50% of your
module grade
Summative (% of module) or
Formative
Typical individual student hours
required to complete the assessment
Assessment set by (and contact)
50 hours
Drlgaann
Room RVMB144
O.Duran@kingston.ac.uk
7 th August 2021 at 23h:59
20 days after submission
Submission deadline (date and time)
Formal feedback
All assignments must be submitted by the date and time specified above.
Students are required to submit an electronic copy of their completed assignment via the
Assignments section of Canvas and follow any specific instructions. Any change to this instruction will be
advised via Canvas.
In line with Faculty policy for late submission of coursework, any work submitted up to a week late will be
capped at 40%. Coursework submitted after this time will receive 0%.
In case of illness or other issues affecting your studies please refer to the University Mitigating
Circumstances policy. Guidance on mitigating circumstances can be found on MyKingston:
https://mykingston.kingston.ac.uk/myfaculty/sec/secstudentsupportMC/Pages/MitigatingCircumstances.aspx
Please note that if you submit a piece of work you have judged yourself fit to undertake the assessment and
cannot claim mitigating circumstances retrospectively.
Guidance on avoiding academic assessment offences such as plagiarism and collusion can be found on
MyKingston https://mykingston/myuni/academicregulations/Pages/default.aspx
Module Learning Outcomes
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The following module learning outcomes and professional body learning outcomes are tested in this
assessment:
Demonstrate a good understanding of the functions of a robot and its embedded systems, such as
sensors and actuators.
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
Apply appropriate procedures to build dynamic models of robotics systems and design
feedback control algorithms.
Apply advanced techniques such fuzzy logic and computer vision to optimize control in
automation processes.
Assessment task and specific terms
The aim of this assignment is to extend your understanding of main principles of robotic mechatronics
systems including mechanical design, sensors, actuators, computer vision and control strategies.
Also, to integrate computer technology to a mechatronic product.
Submission Requirements:
 This is a group assignment and each group of students will submit the solution of the
assignment through CANVAS with font size of Arial 11 point and appropriate margins and 1 line
spacing.
 Layout Format: Academic style. References Style Harvard and Vancouver. There is no maximum
number of images and diagrams. Use equation editor in Microsoft Word for writing the report.
This assignment worth 50% of the overall assessment for this module. Typical hours required by each
student to complete this assignment is 50 hours.
Inverted pendulum: design, model, build and control
In this part your group will design and simulate an inverted pendulum. The figure below shows an
example of balancing an inverted pendulum by moving a cart along a horizontal track. Other
implementations are also possible such as the Boxingbot which combines the structure of a mobile
robot and an inverted pendulum system. You can also look into other types of inverted pendulums
such as the Segway or overhead crane [1].
You have to develop an inverted pendulum model and controller. When put into its upper equilibrium
position, the pendulum will be able to autonomously balance by returning to that position after (a
‘reasonable’) amount of disturbance is applied to the pendulum.
A wide range of sensors and actuators including servo motors, gyrospcope sensor, angle sensor,
accelerometer, ultrasound, colour sensor and camera should be investigated.
A.
TASK 1
Mechanical design and modelling
Note: Your mechanical design will affect both the electrical and control aspects of the system. Several
designs may be adopted to achieve the inverted pendulum. Any change in physical properties of the
vehicle immediately cause changes in the system behaviour.
• Provide a short literature review including sketches of some potential designs.
• Describe the kinematics of the chosen mechanical design.
• Discuss the effects of the mechanical design on the dynamics of the system (e.g. the effect
of the pendulum link length and mass, the effect of motor friction compared to other sources
of friction, the effect of placement of components to adjust the centre of mass, etc.).
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Figure 1: Diagram of a an inverted pendulum using either wheel cart [2]
(10 marks)
B.
TASK 2
Sensors and actuators
There are a number of different sensors that can be used to measure the disturbance, including,
angle sensor, gyroscope, accelerometer, ultrasound sensor, vision sub system, light sensor and
colour sensor.
Provide investigate and document (including technical specifications ) how each of the
sensors work in theory.
Compare the different sensors based on the investigation and assess their suitability for the
task.
(15 marks)
C.
TASK 3
Computer vision
Develop an algorithm using image processing techniques to identify the angle of disturbance
to an inverted pendulum. Techniques may include image subtraction, filtering, and feature
extraction such as Hough transform, colour processing or AI classification .
Test your algorithms using both still frames with known angles and a video recording.
Note that the default parameter settings are not necessarily the best. List the tuneable
parameters and explain how you set each one.Provide strategy to achieve the most accurate
results.
Comment on the accuracy and limitations of computer vision as a tool for the inverted
pendulum task.
Provide commented printouts of your m -files within the report.
(20 marks)
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D.
Task4
Modelling and Control
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•
Discuss the approximate linear model to describe the system (this involves taking into
account relevant dimensions, weight and friction).
Formulate a PID strategy capable of stabilising the inverted pendulum.
Simulate in Matlab/Simulink and provide critical discussion on the results.
Provide the printout of commented m-files/Simulink diagrams.
(15 marks)
E.
Task5
Fuzzy control
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•
•
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•
Formulate a Fuzzy logic strategy and implement it in Matlab.
Explain the design and tuning process followed.
Comment on the results.
Provide the printout the Fuzzy design.
Compare and discuss the results with respect to task 4.
(15 marks)
F.
Task6
Demonstration – video programme performance test
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•
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Record a video clip (maximum 6 minutes) including all the aspects of your design (A-E):
Compare different designs and explain the most suitable approach
Explain which sensors and actuators should be used for the real implementation.
Describe your controllers and present simulations. Please note that conditions should
include disturbances to be applied to the inverted pendulum that should be able to stabilise.
Show the results of the computer vision program and explain the methodology adopted and
parameter tuning.
(25 marks)
ASSIGNMENT DELIVERABLES
1. Fully referenced report with the structure as above to be uploaded on Canvas (marks
will be deducted if the structure is not followed or the presentation is inadequate).
2. The video recording (Task 6) to be uploaded on Canvas.
3. Zipped project folder/file named MatLab KXXXXXXKYYYYYYKZZZZZZ to be uploaded
on Canvas.
4. Submit a peer mark for your group members. Peer marks will be used to adjust the
individual marks. Email your peer mark to o.duran@kingston.ac.uk
References
[1]
Lego Segway Challenge: an introduction to embedded control. [online] Available at:
https://people.kth.se/~crro/segway_challenge/crane.html [Accessed 02.09.2020].
[2]
Inverted Pendulum: System Modeling. [online] Available at:
http://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum&section=SystemModeli
ng [Accessed 02.09.2020].
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For help and advice on this assessment please contact the assessment setter/s or the module leader.
For advice on academic writing and referencing please contact the Faculty of Science, Engineering
and Computing (SEC) Academic Success Centre (SASC). Trained staff and students will give you
guidance and feedback on assessments. SASC can be contacted by email: SASC@kingston.ac.uk and
is open every day in PRSB1019 and on Wednesdays at RV Library.
https://kingstonuniversity.sharepoint.com/sites/mykingston/myfaculty/sec/Pages/Study-Skills.aspx
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