Modeling & Analysis of Mechatronic Systems

Modeling & Analysis of Mechatronic Systems

The core of this junior/senior level course is dedicated to modeling physical systems (Mechanical, Electrical, Hydraulic and their combinations) using the Bond Graph language and deriving differential equations that represent different dynamic systems. Methods, manual and computational, to determine system responses are discussed. There are hands-on laboratory activities that involve disassembly, modeling and re-assembly of different mechanical and electro-mechanical systems. There is also a course project where students are encouraged to apply the techniques taught in class/lab to physical systems of their choice or their MQP. In addition, aspects such as conceptual system design, free-body diagrams, and rigid body kinematics and kinetics are also emphasized in this course. Additional details can be found in the undergraduate catalog.

Class Structure

The course is conducted in four 50-minute weekly lecture sessions with a 100-minute weekly lab. Class Participation activities, Homework, Lab Reports and Project work contribute 55% to the course grade while Exams contribute 45%. Students also have an option to improve their exam grades through make-up exams, giving an opportunity to learn from their mistakes. The course has evolved since 2021, whereby in place of exams, more emphasis is placed on class participation activities, homework, labs and project work.
Besides, students vote for two best projects presented in the course and those winning teams receive additional bonus points.

Course Code

ME 4322 / RBE 4322

Recommended Background

Statics, Dynamics, Kinematics of Mechanisms, Design of Machine Elements, Thermo-Fluids Introduction, Calculus, Differential Equations

Tools Used

PMKS+, Matlab, 20sim

Reference Books

System Dynamics: Modeling, Simulation, and Control of Mechatronic Systems by Karnopp, Dean C.; Margolis, Donald L.; Rosenberg, Ronald C., Hoboken: Wiley, 2012
Intelligent Mechatronic Systems: Modeling, Control and Diagnosis by Merzouki et al. (available as an e-book)
Vehicle Dynamics, Stability, and Control by Karnopp, Dean C., 2013, 2nd ed., ISBN 1466560851
Analysis and Design of Dynamic Systems by Cochin, Ira and Cadwallender, William; 1997, 3rd ed., ISBN 9780673982582 

Terms Taught

A and C terms, since A-term 2014

Course Management Systems Used

Piazza (no longer used), Blackboard (now discontinued), Canvas, Slack

Sample Student Projects

  • Shark Steam Mop
  • Demonstrating a Regenerative Braking System (won the Best Project Award selected by fellow students)
  • Demonstrating a Generative System (won the Best Project Award selected by fellow students)
  • Nerf Gun (won the Best Project Award selected by fellow students)
  • Amusement Park Ride
  • Electric Shaver
  • Oscillating Table Fan
  • Artificial Muscles Hysteresis model
  • Automated Manual Transmission (won the Best Project Award selected by fellow students)
  • Automated Graph-Grammar Based Bond Graph Tool (won the Best Project Award selected by fellow students)
  • Analysis of a Automated Tube Insertion Machine
  • Bond-Graph derivation for the analysis of an artificial bird
  • Automatic French Fry Maker
  • Analysis of a Slider Crank Mechanism
  • Automated 3D Printer Part Removal
    and many more.


If you are interested in obtaining the course syllabus, feel free to Contact me.

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