Mechatronics: Education, Research & Development

Prepared by: Dr. rer. nat. Ashraf Aboshosha

Event: http://www.icgst.com/con11/aiml11/index.html

EAEA, NCRRT, Engineering Dept. www.icgst.com, www.icgst-amc.com [email protected] Tel.: 0020-12-1804952 Fax.: 0020-2-24115475

Education

Research

Development

Education
Bsc., Msc. and PhD regulations (Catalog)
Preparation of curricula guidelines (Printed and Online materials) Academic advertising for mechatronics Preparing list of lab equipments Educational/public training courses (courses and partners) Comparative survey on local/international mechatronics institutes Contact with mechatronics pioneers to share ideas and strategies Inviting our strategic partners to explore the future

Research

Preparing our short/long term research plan (topics, fund, priorities) Contacting mechatronics leading firms to join our strategic partnership Academic promotion for our research products Scheduling our academic activities (conferences, training, visiting Prof. etc.) Preparing our academic exchange program Preparing our academic press (small scale) Contacting our strategic partners to plan the future work

Development

A survey on the local and international job market of mechatronics A survey on the increasing demand in automation and exploring the available chances of this field Preparing a study on mechatronics standards in industry and automation Linking education, research and development

What is the Mechatronics?

Mechatronics basically refers to mechanical electrical systems and is centred on mechanics, electronics, computing and control which, combined, make possible the generation of simpler, more economical, reliable and versatile systems.

The term "mechatronics" was first assigned by Mr. Tetsuro Mori, a senior engineer of the Japanese company Yaskawa, in 1969.

What is the Mechatronics?

Uni North Carolina

Mechatronics Curricula

Introduction to engineering (eng. math, physics, chemistry, mechanical systems, eng. drawing, etc.), Engineering software; C, Java, Matlab, Labview, VEE, Linux etc. Fundamental of mechanical system design and analysis Electronic devices, circuits and systems Digital systems, computer architecture and computer interface Applied control theory (I, II and III) Robotics (sensors, actuators, control, vision, AI, etc.) Instrumentation and measurements Signal & image processing CAD/CAM, NC and CNC Embedded systems, sensors, actuators and software Fine mechanical parts, MEMS and nanotechnology Integrated mechanical/electrical systems Language (English)

Mechatronics Labs (6G*N)

Computer software lab

Aero-, thermo- and fluid dynamics Embedded systems lab CAD/CAM lab Digital electronics lab Robotics Robocup team lab Electronics lab Advanced electricity lab Lab of mechanical systems Lab for fundamental chemistry Lab for basics of physics Eng. drawing hall Electrical/mechanical workshops Language lab

 Embedded

Systems

A combination of hardware and software which together form a component of a Mechatronics systems. An embedded system is designed to run on its own without human intervention, and may be required to respond to events in real time.

Embedded Systems in Automotive Applications

Entertainment Generation II ABS Heads-up monitoring Night vision Back-up collision sensor Navigation Tire pressure sensing Holonomic non-holonomic motion Adaptive control Satellite services radio/GPS Tele-operation Software control Rain-sensing Auto parking Simulators Testing

Hardware, Software, and Firmware

Hardware is the name given to the physical devices and circuitry of the computer. Software refers to the programs written for the computer. Firmware is the term given to programs stored in ROMs or in Programmable devices which permanently keep their stored information.

Robotics Curricula
Introduction to Robotics: History, Asimovs laws, Different types of robot platforms (humanoid, Car-like, holonomic & non-holonomic, miniature, manipulators, animators, indoor, outdoor, space robots, medical robots, under water robots, locomotion, areal robots, educational robots, legged robots, mobile robots, robot simulators etc.) Path Planning: objectives and methods (Voronoi, Bug, potential field, visibility, reactive, road map). Environment modeling: the general meaning and the applied techniques (occupancy grid, topological graphs, integrated, 3D modelling). Distributed sensors: IR, laser, sonar, E-nose, vision, artificial skin, artificial ear etc. Robot kinematics and inverse kinematics Sensors Integration: advantages, weaknesses and methods (Bayes network, Kalman filter, fuzzy logic, particle filter). Robot actuators: Hydraulic, pneumatic and electric drives (DC, Ac, servo, and stepper motors) Self localization: Introduction and techniques (SLAM, Markov, Bayes network, expectation maximizing, maximum likelihood).

Robot Platforms (1)

Indoor Robots

DLR Gripper

NASA Mars Rover

Asimo Humanoid

Outdoor Robots

Robot Base Station

KUKA Manipulator

Robot Platforms (2)

Aibo 4 legged Robot

Qurio Humanoid

NAO Humanoid

Robocup Team

Robot Platforms (3)

Snake Robot

HEXAPOD Robot

Big Dog Robot

Micro Robot

Flying UAV

Underwater Robot

Robot Platforms (4)

Robot simulators

Robot Platforms (5)

Robot educational kits

CCD Camera

Compass

IR PSD

Servo motor

Sonar

Laser ranger

Robot sensors

Robot Platforms (6)

NXT Intelligent Brick

Servo Motor

Sound Sensor

Light Sensor

Touch Sensor

key transponder

Accelerometer Sensor

Compass Sensor

Ultrasonic Sensor

LEGO MINDSTORMS NXT

Stepper, AC and DC Motors

PLC and Microcontrollers

Pc Board

CAN BUS

Serial/paralell GPIB

Buses: USB
USB (Universal Serial Bus) is a new external bus developed by Intel, Compaq, DEC, IBM, Microsoft, NEC and Northern Telcom and released to the public in 1996 with the Intel 430HX Triton II Mother Board. USB has the capability of transferring 12 Mbps, supporting up to 127 devices and only utilizing one IRQ. For PC computers to take advantage of USB the user must be running Windows 95 OSR2, Windows 98 or Windows 2000. Linux users also have the capability of running USB with the proper support drivers installed. USB cables are hot swappable which allows users to connect and disconnect the cable while the computer is on without any physical damage to the cable.

USB Logo

USB Type A & B

USB mini

Buses: USB
USB VERSIONS:
USB 1.0 - The original release of USB supports 127 devices transferring 12 Mbps.

USB 1.1 - Also known as full-speed USB, USB 1.1 is similar to the original release of USB however minor modifications for the hardware and the specifications. This version of USB still only supports a rate of 12 Mbps. USB 2.0 - USB 2.0 also known as hi-speed USB was developed by Compaq, Hewlett Packard, Intel, Lucent, Microsoft, NEC and Philips and was introduced in 2001. Hispeed USB is capable of supporting a transfer rate of up to 480 Mbps and is backwards compatible meaning it is capable of supporting USB 1.0 and 1.1 devices and cables.

Buses: USB
USB Architecture: Host
One host per system Typically the PC in standard USB topology

Can be any device in OTG

Hub
Provides connecting ports, power, terminations

Device/Node (i.e. Slave)

Peripheral application

Buses: USB
USB Specifications: A unique connector Hub topology Auto detection and configuration Low power High Performance Supports up to 127 external devices Provides power BW:USB 1.1: 12 Mb/s, USB 2.0: 480 Mb/s

Buses: USB
USB Topology: Maximum cable length of 30 meters Maximum of five non-root hubs Only a function is allowed in tier 7 Maximum of six segments Hub at center of each star Each segment 5m max Tiered star

Buses: USB
USB Devices: HUB Simplifies USB Connectivity Detect attach and detach Functions USB devices that transmit or receive data

Buses: FireWire
By Apple BW: 400 Mbps 800 Mbps for 1394b Can send more than a CD every 10 sec Plug & play Support 63 devices Provides power Digital audio, video, external hard drives,

Buses: FireWire
The original FireWire was faster than USB when it came out. Transfer rates of up to 400 Mbps. The maximum distance between devices is 4.5 meters of cable length. Eventually, FireWire 800 replaced USB 2.0 very easily. FireWire 800 had a transfer rate of up to 800 Mbps. The maximum distance of cable length between devices is 100 meters.

Buses: FireWire
USB 1.1 12Mbps

FW 400

400 Mbps

USB 2.0

480 Mbps

FW 800

800 Mbps

USB versus FireWire

USB FireWire

On-bus power
Max # devices Topology Plug & Play

2.5W
127 Star Yes

45W (!)
63 Tree Yes

Peer-to-peer connectivity Device Cost

No Low

Yes High

BUSES: GPIB
INTRODUCTION: In 1965, Hewlett-Packard designed the Hewlett-Packard Interface Bus ( HP-IB ) to connect their line of programmable instruments to their computers. Because of its high transfer rates (nominally 1 Mbytes/s), this interface bus quickly gained popularity. It was later accepted as IEEE Standard 488-1975, and has evolved to ANSI/IEEE Standard 488.11987. Today, the name G eneral Purpose Interface Bus (GPIB) is more widely used than HP-IB. ANSI/IEEE 488.2-1987 strengthened the original standard by defining precisely how controllers and instruments communicate. Standard Commands for Programmable Instruments (SCPI ) took the command structures defined in IEEE 488.2 and created a single, comprehensive programming command set that is used with any SCPI instrument. Figure 1 summarizes GPIB history.

BUSES: GPIB
GPIB can connect 15 instruments (0~31 address can be assigned) to a PC (controller). The PC handles the transmission on the bus. 8 bits parallel transmission, up to 8 Mbits/s transmission speed. The total cable length in a system should not exceed 20m (2m max. between a device and next device) Text mode commands. (Easy to differentiate) Using three handshake line for handshaking to ensure data transmission accuracy.

BUSES: GPIB

Oscilloscope

Function generator

GPIB Interface Digital multi-meter Switch

BUSES: GPIB

GPIB Connections

Linear Configuration

Star Configuration

BUSES: CAN
Controllerarea network (CAN or CAN-bus) is a vehicle bus standard designed to allow microcontrollers and devices to communicate with each other within a vehicle without a host computer. The CAN Bus is an automotive bus developed by Robert Bosch, which has quickly gained acceptance into the automotive and aerospace industries. CAN is a serial bus protocol to connect individual systems and sensors as an alternative to conventional multi-wire looms. It allows automotive components to communicate on a single or dualwire networked data bus up to 1Mbps.

BUSES: CAN
In 2006, over 70% of all automobiles sold in North America will utilize CAN Bus technology. Beginning in 2008, the Society of Automotive Engineers (SAE) requires 100% of the vehicles sold in the USA to use the CAN Bus communication protocol while the European Union has similar laws. Several new after market devices have been introduced into the market that utilize the CAN Bus protocol but until now, there have been no new devices that assist the aging after market remote starter and alarm system technology. Now there is an after market module that offers remote starter and alarm connectivity to the CAN Bus communication protocol.

Engineering Software

Matlab

Labview

HP-VEE

IDL

Mathematica

Linux

Qt

Mathcad

Autocad

PowerSHAPE

PowerMILL

CopyCAD

End

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