Mechatronics Vol. 2, No. 3, pp. 221-230, 1992 0957-4158/92 $5.00+0.

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Printed in Great Britain © 1992 Pergamon Press Ltd

THE FINNISH MECHATRONICS PROGRAM--EDUCATIONAL,

RESEARCH AND INDUSTRIAL APPLICATIONS

V. SALMINEN,t A. VERHO~ and T. LAURILA§

tFederation of Finnish Metal, Engineering and Electrotechnical Industries (FIMET),

Etel~iranta 10, SF-00130 Helsinki, Finland, SLappeenranta University of Technology, P.O.
Box 20, SF-53851 Lappeenranta, Finland and §Technology Development Centre
(TEKES), P.O. Box 69, SF-00101 Helsinki, Finland
(Received 16 October 1991)

Abstract -- A mechatronics research program of about three years in length, requiring about 100
man-years, was carried out in Finland between 1987 and 1990. It was a co-project of industry and
research institutes, consisting of nine sub-projects.
The program has stimulated cooperation between firms and research institutes and supported the
companies' own R&D projects.
The program was also used to redirect basic and continued engineering training and education,
stimulating the production of training material.
This paper describes the experiences in adaptation of mechatronics to educational, research and
industry purposes.

1. I N T R O D U C T I O N

Products that m e e t the requirements of the customers better than b e f o r e - - t h a t is

what mechatronics, a new, bold way of combining electronics, mechanics and data
processing, helps us create.
Extensive w o r k started in Finland in the fall of 1985 on educational and research
areas with the objective of improving the productivity and competitive p o w e r of the
Finnish metal, engineering, electrical and electronics industries t h r o u g h the use of
mechatronics.
In 1987 a special mechatronics research p r o g r a m was introduced in Finland with
four technical universities, the Technical Research Centre of Finland and a great
n u m b e r (80) of engineering and electrical industry firms as participants using the
results and new p r o d u c t c o n c e p t - f o r m i n g possibilities in the work.
The p r o g r a m t o o k shape with a systematic survey of Finnish industries to aid in
defining their real needs. O v e r 130 proposals for project and research areas were
received, and several firms offered ideas for long-term R & D projects.
The p r o g r a m had three primary goals:

( 1 ) increased knowledge of mechatronics,

(2) increased use of mechatronics, and
(3) implementation of p r o d u c t d e v e l o p m e n t projects which could serve as practical
examples.

221
222 V. SALMINEN et al.

2. MECHATRONICS IN FINLAND AND THE NEED FOR AN EXTENSIVE

DEVELOPMENT PROGRAM

Continuous state-supported R&D efforts are essential to the maintenance of

competitiveness in a nation's core industries. In Finland's case, the primary focus of
its R&D programs concerns the unique technical challenges that face its primary
industries--i.e, mining and metallurgy, forest products, electrical machinery and
communication systems. Further, the high level of sophistication in its engineering
and electronics industries provides an excellent basis for products distinguished by
deliberate integration of mechanics and electronics, a field popularly known as
mechatronics.
The Mechatronics Group of the Federation of Finnish Metal, Engineering and
Electrotechnical Industries (FIMET), defines the concept of mechatronics as:

"~... a combination of electronics and mechanics in a way that improves the

"smartness' as well as the flexibility, versatility, economy of operation, safety and
reliability of machinery and equipment."

It is essential that electronics and data processing aspects--the benefits and

opportunities they can potentially provide--be considered fully when defining the
basic functions and properties of machines. An important characteristic of mechat-
ronic equipment is that 'smartness' is a built-in feature of its design.
Diverse areas of expertise must be incorporated for the successful design of a
mechatronic product. Unlike the part when design tasks were relatively unified, a
modern design group must rise above single disciplines and function on a more
progressive and adaptive basis. Expertise in the mechatronics field requires an
understanding of all the technologies involved in a complex system, as well as
knowledge of the entire planning and design process. In practice, this means the
modern equipment designer accesses the special knowledge of others, for it is simply
no longer possible for one individual to marshall all of the necessary information for a
complex mechatronic project.
Mechatronics was positioned within the fields of mechanics and electronics as
shown in Fig. 1.
Levels are defined as follows:
(1) The electronic and mechanical parts of a mechatronic component cannot be
separated without breakage.
(2) The full intended range of operation cannot be performed by either the
mechanical or electronic part of a mechatronic module alone. Its components are
mechatronic, when applicable.
(3) The integral operation of a mechatronic machine is based on mechatronic
components and/or modules.
(4) On a system level it is possible to use mechatronics in nearly all systems.
A prerequisite to maintaining the competitiveness of products is the utilization of the
possibilities of electronics in machine and component technology.
The increase in electronics sets new demands on the mechanical part itself. The
objectives are new, superior properties, improved flexibility and reliability, lower
 The Finnish Mechatronics Program--educational, research and industrial applications 223

[ (FMS] ] SYSTEM -
LEVEL

MECHANICS I fMECHATRONICS~ ELECTRONICS MACHINE-

[HECH. WRIS[ WAI"CHI / ( COPIER ~ IOIGI[. WRISI WAI"CI~
CONV.I'~IACHINETOOt
t / INOUSTRIALROBOTI ~ COHPUTER ) LEVEL

MECHANICS /iII HECHATRONIES

~PULSEOETECrOR
II ELECTRONICS
I I IOArAeus~
MODULE-
(GEAR ASSEHBLYI LEVEL
\1 ,.tELL SERVOEYLINOERI l/
MECHANICS \ HECHATRONICSI / ELECTRONICS COMPONENT
(SCREW, GEARI \ :mErZOEL.CRYSrAt.I / (rRA.sJsroR.
STRAIHGAUGE] ~ I'JICROCIREUIrl LEVEL

Fig. 1. Positioningof mechatronics within the fields of mechanics and electronics [1].

production costs, as well as improved operation and maintenance; all leading to a

more competitive product.
Mechatronics was established as an independent area of research to create a
supporting base for the R&D effort in commercial companies.
Mechatronic systems designers represent a new breed, because they must have
equal fluency in mechanical and electronic concepts. Mechatronic approaches synthe-
size information so as to achieve designs with significantly better performance, ease of
use, environmental safety and operational intelligence. Competence in electromechan-
ical engineering should, in the long run, enhance the competitiveness of companies.

3. P R O G R A M CONTENTS AND SCOPE

The Mechatronics Program emphasized the internal technology of mechanical

systems, developing innovations through which significant, otherwise unattainable,
benefits resulted from the mechatronic design. Production technology and the
problems connected with the actual operations of a machine were left outside the
scope of the program. The program scope was limited within a certain area of the
automation field (see Fig. 2).
The research effort focused on application of distributed intelligence (the essential
information which describes the operational conditions of the machine and its working
environment) and on the properties of embedded control systems.
The increased adaptivity and flexibility needed in mechatronic systems necessitates
the rapid distribution of intelligence, e.g. operational instructions, pressure sensor
signals, and positional coordinates. Because the quantity of data to be processed can
increase extensively, it becomes advantageous to treat information in a distributed
manner in order to achieve required speeds, reliability and safety.
Finally, it seems reasonable to assume that the way integrated systems control their
operating environment will continue to become increasingly distributed and reactive
(Fig. 3).
In the multidisciplinary design of a realtime mechanical system consisting of
independent actuators, it is difficult to optimize all existing technologies and solution
models. Further, the control of a mechatronic system is based on distributed data
224 V. SALMINEN et al.

LEVELS
PRODUCTION \
A/CONTROL\ 8
O/ CONTROLAND \
p / MONITORING \
/ ,~C..N~S¥~,.,~\
TECHNOLOGY / MACHINE CONTROL \
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~ / o.o-,=.,o..~oco.o.,o.1

c / S,GN,L coM~NO /

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PROCESSING CONVERSION /

Fig. 2. Scope of the MechatronicsProgram within the hierarchyof automation [1].

processing, yet the designer must be able to divide the construction into independent,
separate, easy-to-control entities.
Thus, the creation of operating software has become more important as the
increase in control functions has made the control systems more complex. This
problem could be greatly reduced if ready-made package solutions consisting of an
actuator, control, sensor functions and control electronics were available on the
actuator level.
Four pilot projects and four supporting projects in individual fields of technology
were chosen to be included in the Mechatronics Program.
The pilot projects involved:
(1) the mechanical stabilization of large-inertia loads on a moving platform, using
mechatronic, hydraulic, units as actuators;
(2) development of a system for electro-pneumatic control of motion and force;
(3) design of intelligent robot grippers for manipulation of several classes of objects;
and
(4) demonstration of intra-machine fiber-optic information transfer and fiber-optical
sensoring in a mechatronic product.
The supporting projects concerned:
(5) packaging of electronics in machine components;
(6) safety, reliability and fault tolerance of a mechatronic product;
(7) distributed control and synchronization of hydraulic actuators;
(8) systematic design of a mechatronic product; and
(9) an overall coordination project.
The separate coordination project was established to supervise individual projects, to
 The Finnish Mechatronics Program--educational, research and industrial applications 225

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RELAY

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Fig. 3. The distributed control principle [2].

carry out training and information exchange, and to serve as a synthesis group in
which new concepts could take shape.
The various projects contained in the Mechatronics Program and their interrelations
to other projects and support lines are shown in Fig. 4. An essential part of
mechatronics applications is systematic and innovative design with concurrent con-
sideration of safety and reliability.
Another project, called Smart Power, was launched to cover the ground between
the Finnish Mechatronics and Microelectronics Programs. The subject of this project
was adding intelligence to power circuits through microelectronics and especially the
integration of such circuits. This field of study offers plenty of application possibilities
in Finnish products.

4. PARTICIPATION AND DIRECTION FROM INDUSTRY

Eighty companies participated in the program, setting goals, and providing both
direction and funding. Listed below are some of the major firms participating in the
program, with their industrial fields and main product categories:
226 V. SALMINEN et al.

Oy Nokia Ab--mobile phones, industrial robots, cable machinery, computers and

telecommunications;
Valmet Oy--paper machines, paper finishing and roll handling machines and devices;
Rauma Oy--forest harvesters and rock crusher systems;
Oy Partek Ab--waste handling devices, transportation and logistics systems;
Tamrock Oy--rock drilling machines and systems
Kone Oy--cranes, lifts and wood handling systems;
Cimcorp Oy--special robot systems:
Pimatic Oy--pneumatic devices and systems; and
JKV Oy--hydraulic devices and systems.

5. BENEFITS FOR INDUSTRY

The Mechatronics Program increased cooperation between companies and research

institutes on one hand and among industrial firms on the other. The program also
provided support for the firm's own product development projects.
Some companies developed concepts for totally new products, or improved existing
ones in the course of the program. Other firms developed new subsystems in their
production processes.
Safety and reliability were given special attention. Several mechatronic systems or
subsystems were subjected to safety and reliability analyses. These were used in
formulating product concepts and planning production methods.
The participating firms acquired new methodologies for their R&D projects. These,
in turn, served as basis for the companies' planning and quality control systems. Some
companies were able, either during the program or following its completion, to hire
researchers trained in, and familiar with, the mechatronics field and related discip-
lines.
Complementary education in mechatronics has expanded, giving the firms' technical
staff greater opportunity to employ mechatronic design in product modernization. The
knowledge and know-how accumulated through the program is expected to foster
further mechatronic R&D in Finnish industry.

6. RESEARCH CONTRIBUTION

Through the program, several research groups specializing in the study and
development of mechatronic systems were established in Finland. The number of
experts in the field has grown considerably.
The knowledge base of Finnish technological research institutions has expanded.
Today, the technological community is able to provide industry with research services
on internationally competitive terms.
The program enhanced cooperation between participating research institutions and
between those institutions and their industrial counterparts.
While engaged in projects that were part of the program, research and educational
institutions have acquired electronic and mechanical equipment that will be used in
further studies, with cooperating industries, and in evaluating prototypes.
 The Finnish Mechatronics Program--educational, research and industrial applications 227

SYSTEMATIC AND INNOVATIVE DESIGN OF MECHATRONICS

SAFETY AND RELIABILITYOF MECHATRONICS

Fig. 4. Relations among projects in the Mechatronics Program [1].

7. NEED FOR MULTIDISCIPLINARY TRAINING AND EDUCATION

Multidisciplinary approaches, such as mechatronics, are essential for sustaining the

technological and competitive advantage of companies. To this end, the program has
succeeded in introducing multidisciplinary thinking to local university, college and
technician-level training. Further, the published results of the program may be seen as
a contribution to the national pursuit of multidisciplinary knowledge and to the
broader use of new technology.
During the program, 26 public conferences were arranged. The financing organiza-
tions arranged many intra-project training seminars. In the course of the program, 30
technical reports suitable as educational material were published and the mechatronics
data base software was expanded. A series of instructive lectures were presented by
the research staff and by representatives of the companies sponsoring the program. In
addition, several conference papers and press articles were published.
228 V. SALMINEN et al.

In basic engineering education, program results have led to changes in training

courses for automation assemblers, technicians and engineers, with new emphasis on
the requirements of modern electromechanical technology. In the engineering depart-
ments of technical universities, special mechatronics programs have been established.
In the course of the Mechatronics Program, educational programs have changed on
every level. There have also been many short and long period pre-education courses,
which have had the role of attitude building. Multidisciplinary group work opens the
participants' eyes to the total optimized solution for their problems.
The need for specialization on mechanics and electronics is self-evident. Each
narrow, particular area needs its top specialist--without specialization it is not
possible to make basic inventions.
However, the number of engineers with jobs requiring knowledge from several
training fields is steadily growing. The line to be crossed perhaps most often is
between electrotechnics and mechanics.
Experts in the interdisciplinary mechatronics field must acquire general knowledge
of various techniques and be able to master the entire designing process. They must
be able to use the special knowledge resources of other people for solving problems
and controlling the whole process.
In Fig. 5 there is an example of the development project of a fast, accurate special

KNOWLEDGE Expert 1, Expert 2,

Expert 4, Mechanical Control
Sensors and d_y__namics
actuators \ \
Expert 3, \ \ .~.
Use of micro-\ .-'~ //- ~.~
~)rocessors ~ // ', // ii

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ELECTRONICS MECHANICS INFORMATION

TECHNOLOGY

re=know-how profile of the group

and also the project leader
Fig. 5. Example of the project of a fast, accurate, special robot. Needed k n o w - h o w profiles of participating
individual experts and the whole group.
 The Finnish Mechatronics Program--educational, research and industrial applications 229

robot. Also the needed know-how profiles of individual experts, project leader and
possible group are shown. Similar needed know-how profiles can be drawn to every
technical application area. Education and training programs should be constructed
according to the know-how profiles needed in industry. Flexibility is needed in
education and training.
In Table 1 there is roughly listed, needed knowledge of an individual expert
participating in the development work of a fast accurate special robot.
When training a mechatronics engineer an analogue model could be taken from the
training of medical doctor--all medical students are first trained as generalists,
general practitioners, specializing later to various areas of expertise.
A key factor in technical education is to teach every student the method of general
problem solving, the rules of systematic design and the common physical effects. This
is the way we educate engineers as individuals capable of cooperation.
The education should give a designer not only the immediate professional skills but
also the ability to work methodically, because that is what he will be constantly
needing in his job. Only a methodical approach to designing will make it possible to
raise the productivity in this field. Proceeding systematically, partly on an abstract
level, the designer can produce generally applicable solution documents, which can be
used again in other problem situations. A deliberate step-by-step approach to the job
makes it possible for him to make and keep timetables [3].
Training in methodic must be increased and expanded beyond teaching the students
the use of individual methods separately towards metamethodics (the combined use of
several methods).
Overall, it is noted that the people participating in product design are able to create
entities within one tool, but problems ensue in information transfer from one tool to

Table 1. Example of the project of a fast, accurate, special robot, needed know-how profiles of individual
experts and the whole group
KNOWLEDGE 1 - 5 (ABT.)

MECHANICAL CONTROL ELECTRO- SENSORS PROG~M- PR~ECT ECON- I SYSTEMo

' DYNAMICS T H E O R Y NICS AND MING MANAGE- OMICS MATIC
ACTUATORS MENT DESIGN

PROJECT
3-4 3-4 2-3 2-3 2-3 5 4 4
LEADER
EXPERT ON
CONTROL 4 5 1-2 2-3 2-3 2-3 1-2 3-4
THEORY
EXPERT ON
MECHANICAL 5 4 1-2 2-3 2-3 2-3 1-2 3-4
DYNAMICS
EXPERT ON
SENSORS AND 2-3 2-3 3 5 2-3 2-3 1-2 3-4
ACTUATORS
EXPERT ON
PROGRAMMING
2-3 2-3 3-4 2-3 4-5 1-2 1-2 3-4
EXPERT ON
USE OF 1-2 3-4 4-5 2 2-3 1-2 1-2 3-4
MICRO-
ELECTRONICS
230 V. SALMINEN et al.

another. O n e must avoid forcing results within one tool when another one is clearly
better suited for the job. O n e must k n o w the properties of the tools and m e t h o d s well
e n o u g h to be able to choose a range of t h e m most efficiently applicable to the task at
hand [4].
Because it is impossible to store the entire mass of knowledge n e e d e d in a p r o d u c t
design and d e v e l o p m e n t project in the brains of all project participants, we must in
the future train a new kind of chief designers to control the multi-dimensional,
mechatronic design process. The chief designers keep an eye on the whole: they draft
the products and act as interpreters between the various field experts. We must bear
in mind that experts on narrow fields will always be n e e d e d and they will b e c o m e
m o r e and m o r e important as their capacity for c o o p e r a t i o n increases. T h e chief
designers must be familiar with the properties and uses of the m e t h o d s in o r d e r to be
able to m a n a g e an interdisciplinary expert group efficiently [5].

8. C O N C L U S I O N S

T h e Mechatronics P r o g r a m has considerably increased the n u m b e r of scientists in

this field in Finland.
T h e industry has a g o o d chance to direct and implement the research according to
its own needs.
The transfer of k n o w - h o w between the research institutes as well as b e t w e e n them
and the industry has been very o p e n and active. C o o p e r a t i o n between the p r o g r a m
participants in the industry has increased and deepened. Some new business networks
have been created.
The Finnish Mechatronics Education Research Institute have increased training and
international cooperation in the course of the program.

REFERENCES

1. The Finnish Mechatronics Program, Final Report TEKES, Helsinki (1990) [English summary report
(1991)].
2. Karioja P., Nousiainen S. and Hannula T., The feasibility of an intra-machine optic communication
network. Conference Proceeding of EFOC/LAN 89, 12-16 June, Amsterdam (1989).
3. Salminen V., Tanskanen K., Verho A. and Aho K., Metamethodics in the task definition and
conceptual design phases. ICED 90 (International Conference on Engineering Design), Dubrovnik
(1990).
4. Salminen V., Ropponen T. and Verho A. Multidisciplinary problems in mechatronics and some
solutions. Third International Symposium on Robotics and Manufacturing, ISRAM 90, Vancouver, B.C.,
Canada. Robotics and Manufacturing. Resent Trends in Research, Education and Applications (Edited by
Jamshidi J. and Saif M.), Volume 3. ASME Press (1990).
5. Salminen V., Tanskanen K. and Verho A., Finnish mechatronics approach--experience in adaptation to
educational, research and industry purposes. International Conference of Mechatronics. Designing
Intelligent Machines. Robinson College, Cambridge. Conference Proceedings, IMechE (1990).