1. Feature compatibility checks: This involves comparing the features of components to determine if they are suitable for the system.

2. Performance compatibility checks: This involves assessing the performance of components to determine if they are suitable for the system. 3. Cost compatibility checks: This involves comparing the cost of components to determine if they are economically suitable for the system. 4. Safety compatibility checks: This involves assessing the safety of components to determine if they are suitable for the system.

5. Environmental compatibility checks: This involves assessing the environmental impact of components to determine if they are suitable for the system.

In the design phase of mechatronic systems, compatibility checks can be used to automate and optimize component selection. Some of the compatibility checks that can be used include:

Electrical compatibility: This check ensures that electrical components such as sensors, actuators, and controllers are compatible with each other in terms of voltage, current, and power requirements.

Mechanical compatibility: This check ensures that mechanical components such as gears, belts, and couplings are compatible with each other in terms of size, weight, and torque ratings.

Environmental compatibility: This check ensures that components are compatible with the environment in which they will be used. For example, components used in harsh environments such as high temperatures, humidity, or corrosive conditions must be selected accordingly.

Software compatibility: This check ensures that software components such as firmware and control algorithms are compatible with each other and the hardware components they will be running on.

Communication compatibility: This check ensures that communication protocols used between components are compatible with each other. For example, components that communicate using different protocols such as CAN, Ethernet, or wireless networks must be selected accordingly.

By performing these compatibility checks, engineers can ensure that the selected components will work together seamlessly and efficiently in the mechatronic system, which can save time, reduce costs, and improve performance. Additionally, using automated tools such as simulation software can help optimize component selection by simulating different scenarios and selecting the best components for the system.

There are several drawbacks to using harmonic potential functions for obstacle avoidance:

Overall, while harmonic potential functions are a popular approach to obstacle avoidance, they have some limitations that should be considered when choosing an algorithm for a particular application.