41014 Sensors and Control for Mechatronic Systems
Warning: The information on this page is indicative. The subject outline for a
particular session, location and mode of offering is the authoritative source
of all information about the subject for that offering. Required texts, recommended texts and references in particular are likely to change. Students will be provided with a subject outline once they enrol in the subject.
Subject handbook information prior to 2025 is available in the Archives.
Credit points: 6 cp
Subject level:
Undergraduate
Result type: Grade and marksRequisite(s): 48622 Embedded Mechatronics Systems
Recommended studies:
basic knowledge of classical control techniques
Description
The objectives of this subject are to develop the student's theoretical and practical understanding on active and passive sensing and feedback control techniques in mechatronic and robotic systems, ability to select and evaluate sensors, process the sensor data, and apply computer-based tools for practical control system design using the sensory information. Topics include visual imaging and image processing, infrared imaging, time of flight (TOF) measurements, detection and tracking, state-space modelling of linear systems, stability, controllability and observability, linear quadratic control, observer design. Case studies of engineering applications are used to illustrate and examine these concepts.
Subject learning objectives (SLOs)
Upon successful completion of this subject students should be able to:
| 1. | Explain the fundamental working principles of sensors and demonstrate data acquisition from these sensors for use in mechatronic system applications. (D.1) |
|---|---|
| 2. | Apply knowledge of image processing and active sensor processing for using the data to guide mechatronic systems. (D.1) |
| 3. | Apply knowledge of advanced control techniques to control mechatronic systems. (D.1) |
| 4. | Design sensor, signal processing and control solutions to solve practical problems. (C.1) |
Course intended learning outcomes (CILOs)
This subject also contributes specifically to the development of the following Course Intended Learning Outcomes (CILOs):
- Design Oriented: FEIT graduates apply problem solving, design and decision-making methodologies to develop components, systems and processes to meet specified requirements. (C.1)
- Technically Proficient: FEIT graduates apply abstraction, mathematics and discipline fundamentals, software, tools and techniques to evaluate, implement and operate systems. (D.1)
Contribution to the development of graduate attributes
Engineers Australia Stage 1 Competencies
This subject contributes to the development of the following Engineers Australia Stage 1 Competencies:
- 1.3. In-depth understanding of specialist bodies of knowledge within the engineering discipline.
- 1.4. Discernment of knowledge development and research directions within the engineering discipline.
- 2.2. Fluent application of engineering techniques, tools and resources.
- 2.3. Application of systematic engineering synthesis and design processes.
- 3.4. Professional use and management of information.
Teaching and learning strategies
In this subject, students will engage with online lecture videos and interactive tutorial/lab sessions. The labs provide an opportunity to apply theoretical concepts from pre-work materials, reinforce practical skills, and self-assess understanding. Academic staff will offer formative feedback during weekly hands-on lab exercises and summative feedback through quizzes and exams.
Before attending classes, students must review assigned materials, including online lectures and the designated textbook. Collaborative lab exercises and group discussions, guided by faculty, encourage inquiry-based learning.
Upon meeting the minimum assessment threshold, students can choose to collaborate on an open-ended, self-directed project. Those falling below the threshold focus on strengthening their foundational knowledge.
Regular attendance is expected during the teaching sessions.
Content (topics)
- Passive Sensors: Visual imaging and image processing, Infrared imaging
- Basics of Active Sensors: Operating principles, time of flight (TOF) measurement & imaging, sensor data processing, Detection and tacking
- State space modelling of dynamic systems: linear continuous time model, linear discrete time model,
- Fundamental issues in control system design: Lyapunov stability, controllability, observability, stabilization, pole assignment.
- Linear optimal control: linear quadratic control, observer design
Assessment
Assessment task 1: Quiz 1
| Intent: | The aim of this quiz is to assess the competence in image processing techniques. |
|---|---|
| Objective(s): | This assessment task addresses the following subject learning objectives (SLOs): 1 and 2 This assessment task contributes to the development of the following Course Intended Learning Outcomes (CILOs): D.1 |
| Type: | Quiz/test |
| Groupwork: | Individual |
| Weight: | 10% |
Assessment task 2: Quiz 2
| Intent: | The aim of this quiz is to assess the competence in sensors, sensor processing and control techniques. |
|---|---|
| Objective(s): | This assessment task addresses the following subject learning objectives (SLOs): 1, 3 and 4 This assessment task contributes to the development of the following Course Intended Learning Outcomes (CILOs): C.1 and D.1 |
| Type: | Quiz/test |
| Groupwork: | Individual |
| Weight: | 20% |
Assessment task 3: Exam
| Intent: | The aim of the exam is to assess students' deeper knowledge gained through lectures and lab classes. |
|---|---|
| Objective(s): | This assessment task addresses the following subject learning objectives (SLOs): 1, 2, 3 and 4 This assessment task contributes to the development of the following Course Intended Learning Outcomes (CILOs): C.1 and D.1 |
| Type: | Examination |
| Groupwork: | Individual |
| Weight: | 40% |
Assessment task 4: Project
| Intent: | For students to apply sensing and control strategies to achieve an integrated solution to given specifications in a robotics system. |
|---|---|
| Objective(s): | This assessment task addresses the following subject learning objectives (SLOs): 1, 2 and 4 This assessment task contributes to the development of the following Course Intended Learning Outcomes (CILOs): C.1 and D.1 |
| Type: | Project |
| Groupwork: | Group, group and individually assessed |
| Weight: | 30% |
Minimum requirements
In order to pass the subject, a student must achieve an overall mark of 50% or more.
References
[1] Nixon, Mark S, Feature extraction & image processing for computer vision, Oxford : Academic, 2012
[2] Introduction to Sensors for Ranging and Imaging by Graham Brooker, Sci Tech Publishing Inc., 2009
[3] Image Processing Toolbox, https://au.mathworks.com/products/image.html
[4] Image Acquisition Toolbox, https://au.mathworks.com/products/imaq.html
[5] Camera Calibration Toolbox, http://www.vision.caltech.edu/bouguetj/calib_doc/
[6] Katsuhiko Ogata, Modern Control Engineering, (3rd Edition)
[7] Jefferey B. Burl, Linear Optimal Control, Addison Wesley.
[8] Control Tutorial for MATLAB, http://www.engin.umich.edu/group/ctm/state/state.html
[9] J.M. MacIejowski, Multivariable Feedback Design, Addison-Wesley, 1989
[10] Branislav Kisacanin, Gyan C. Agarwal, Linear Control Systems: With Solved Problems and MATLAB Examples
[11] Control system toolbox, http://www.mathworks.com/products/control/
[12] Katsuhiko Ogata, Discrete-Time Control Systems (2nd Edition)