A model for selecting software tools for mechatronic systems
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Insinööritieteiden korkeakoulu |
Master's thesis
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Authors
Date
2024-08-19
Department
Major/Subject
Mechatronics
Mcode
Degree programme
Master's Programme in Mechanical Engineering (MEC)
Language
en
Pages
35+5
Series
Abstract
Mechatronic systems can be enormously complex. The chiefest complexity is in their control components due to the deep knowledge required for effective development, the need to interface with myriad heterogeneous components, and the opacity of its operation. In the IT sector, a tech stack is a known discretization of function within a system, typically used to categorize types of software tools and the functions they perform. This enables disparate parts of a system to be developed separately with the confidence that other components will or should provide expected interfaces. Inspired by IT tech stacks, this thesis presents a model, the mechatronic tech stack, to mitigate this complexity by siloing control system behavior into discrete functions, classifying what tools can be used to meet them, and how development can be guided by this theory. The model is demonstrated on four case studies related to control upgrades on a fluid power test bench, development of soft robots, the development of a pneumatic muscle Stewart platform, and controllers for a solid mechanics lab. The theory is promising and there is a clear direction to progress, but there are challenges in defining the most useful abstractions and interfaces.Description
Supervisor
Vepsäläinen, JariThesis advisor
Colonius, OlofKeywords
mechatronics, controls engineering, software tooling, pneumatics, technology stack