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© 2012 Maplesoft, a division of Waterloo Maple Inc. , a CYBERNET group company
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Presenters
Tim Vrablik
Associate Product Manager, MapleSim
Academic, Maplesoft
Scott Williamson
American Society for Engineering Education
Dr. Venkat Krovi
Professor, Mechanical and Aerospace
Engineering, SUNY Buffalo
Dr. James Andrew Smith
Biomedical Engineering Stream Coordinator,
Ryerson University
Presenters
Moderator
Dr. Thomas Doyle
Professor, Electrical and Computer
Engineering, McMaster University
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Tim Vrablik
Associate Product Manager
MapleSim Academic
Maplesoft
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
• Increasing class sizes, decreased funding
• Keeping curricular materials up-to-date with technology and industry requirements
• Trade-offs
– Theory vs. Practice
– Open vs. Closed Ended Problems
– Individual vs. Group Evaluation
– Traditional Lectures vs. Active Classrooms
Challenges to Engineering Education
Depth
Bre
adth
Current curriculum
Feasible region
Technology
Industry
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Prevailing Practice
Code snippets in text books
Industry-standard tools, massive learning curves and complexity
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Prevailing Practice
Code snippets in text books
Industry-standard tools, massive learning curves and complexity
Are we teaching concepts or software techniques?
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Pedagogical goal
Concepts ∙ Science ∙ Math ∙ Requirements ∙ Systems ∙ Theory
Models ∙ Virtual Simulation ∙ Visualization ∙ Parameters ∙ Design An effective bridge between
theoretical concepts and
realistic design applications
Experiments ∙ Validation ∙ Reality ∙ Intuition ∙ RT simulation
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Dr. Thomas Doyle
Professor, Electrical and Computer
Engineering
McMaster University
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Educational Techniques for the Next-Generation of Engineers:
Transforming the Freshman ‘Cornerstone’ Design Course Through Modeling and
Simulation
Dr. Thomas E. Doyle, P.Eng. Dept. of Electrical and Computer Engineering & Engineering 1 Program
McMaster University
Hamilton, Ontario, Canada
ASEE-Maplesoft Webinar Tuesday, May 29, 2012
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
McMaster Engineering 1
• Engineering-1 Team
– Faculty members and program
– Teaching Professors
– Instructional Assistant Interns
• Freshman Engineering Class
– Common first year
– In 2011we had 1150 students in year 1
– 74% have no background in CAD solid modelling
– 99%+ have no experience is system modelling
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Motivation & Pedagogical Framing
• Engagement and Learning
– Capstone-style experience for freshmen (Cornerstone)
– Directed dissection - retrofit with specific design target
– Innate curiosity = better engagement
• Teaching vs. Demonstrating Design
– Traditional vs. Current
– Form vs. Function
– Closing design loop
• Spark Intellectual Curiosity
– Common experience elements
– Teach students to ask Engineering-type questions
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Fundamental Elements of New Course
• Introduce and follow complete design process in 12-week course
• Enhance core objectives with discussion and design of simple mechanisms
– Lectures on theory, simple mechanisms, and simulation
– Solid & System Modelling teaching in lab; Hand sketching and modeling calculations in tutorial
– Lab & tutorial assessment bi-weekly
• Team Project & Course Competition
– Directed dissection for mechanism retrofit with specific design target
• Use modeling and simulation to
– Allow iterative verification of design
– Validate final design
• Modeling:
– Form - solid modelling using Autodesk Inventor
– Function - system modelling using Maplesoft MapleSim
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Gearing Basics
• D – Pitch Circle Diameter
• z – Number of Teeth
• m – Module
• i – Gear Ratio
D
m z
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Directed Dissection Project
• Example - Floppy Drive – Each group has different input motor speed
– Ideal output linear speed of 0.0625 m/s for the read-head
• Example - CDROM Drive – Each group has different input motor speed
– Ideal output linear speed of 0.120 m/s for the read-head
You have recently been hired by company XYZ Mechanisms to work in a small
team of engineers. Your team’s first assignment is to modify the design of a
company product due to previously used components being unavailable. Your team
must first research how the product mechanically operates and then proceed with
your own retrofit design. However, before XYZ's CEO will approve the design
change, your team must model the system and validate your new design’s
functionality.
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
The Design Process Problem
Statement
Problem Definition (or Framing) 1. Clarify objectives 2. Establish metrics for objectives 3. Identify constraints 4. Revise problem statement
Conceptual Design 5. Establish functions 6. Establish requirements (function specs) 7. Establish means for functions 8. Generate Design Alternatives 9. Refine and apply metrics to design alternatives 10. Choose a design
Preliminary Design 11. Model and analyze chosen design 12. Test and evaluate chosen design
Detailed Design 13. Refine and optimize chosen design 14. Assign and fix design details
Design Communication 15. Document final design
Documentation for Final Design (Report, Drawings, Models, etc.)
Reference: Dym and Little, “Engineering Design”, third edition.
Verification
Final Design
Validation
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Design Iteration
Hand Calculations Solid Modelling (Autodesk Inventor’s
Design Accelerator Tool)
Simulation and System Modeling (MapleSim)
D
m z D – Pitch Circle Diameter
z – Number of Teeth
m – Module
i – Gear Ratio
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
The following three graphs (next page) validate the proposed gear train design. A brief
description of each is given below:
1. Figure 6 is a graph of the input angular velocity. This value (23963 RPM) is the exact angular
velocity of the motor provided by XYZ Mechanisms.
2. Figure 7 is a graph of the read-head displacement against time. Its amplitude is 26mm and it
varies linearly with time, as expected.
3. Figure 8 is a graph of the read-head linear velocity against time. Its amplitude is 0.1625m (to 4
decimal places), again as expected.
9
Fig 5: 3D MapleSim gear train model
Example Results: CDROM Retrofit Using Provided Gear Modules
Design Validation in MapleSim
The gears for the proposed gear train design were created in Autodesk Inventor, and the CAD
files exported out to MapleSim for validation. Figure 4 shows the 2D MapleSim schematic of the
validation model used to test the output linear speed and displacement:
Figure 5 (next page) shows the full 3D model, constructed from the CAD gear models,
corresponding to the above schematic:
8
Fig 4: 2D schematic of the validation model
10
Fig 6
Fig 7
Conceptual & Hand Calc. Solid Modelling
Simulation and System Modelling
2012 Team 2-031: N. Bandiera, A.
Mekic, and B. Kakwani
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Example Results: CDROM Retrofit Using Student Designed Gear Modules
2012 Team 2-053: K. J. Arbour and S. Berry
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Results
• Success in teaching the design process (vs. demonstration)
• Closed the design loop with immediate verification and validation
• Clear engagement from students across disciplines
• Successfully used student innate curiosity to enhance materials
• Improved cohesion of theory and practice between lecture, lab, and tutorial
• Encouraging to see first year students wanting to know more about system modeling and asking more Engineering-like questions
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Discussion and Further Work
• MapleSim has allowed instructor to shift the traditional Design & Graphics approach from focus on part form to system function.
• Higher Education Quality Council of Ontario (HEQCO – http://www.heqco.ca) has contracted a study of this technology enhancement for delivering the type of course.
• Adding 3-dimensional printers in September 2012 for the study of student experiential learning.
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Resources & Contact
• Available from my website:
– Lecture materials
– Example Cornerstone project specification
– Link to iTunesU lecture support videos
– Link to MapleSim spur and worm modules
• My coordinates:
– Thomas E. Doyle
– http://www.ece.mcmaster.ca/~doylet
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Dr. James Andrew Smith
Biomedical Engineering Stream
Coordinator Ryerson University
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
The Benefits of Using a Dynamic Modeling Software Package in EE
Courses
James Andrew Smith, PhD, P.Eng.
Dept. of Electrical & Computer Engineering
Ryerson University
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Overview
• Context: 3rd Year EE Undergrad Course
• Inductive Learning Paradigm
• Why a New EE Tool?
• Examples
– Sine-driven Resistor
– OpAmp
– Motor + OpAmp
• Conclusions
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Teaching: ELE 604 Sensors & Measurement
• 3rd Year EE Course
• Introduction to
– Robotics
– Microsystems
• First taste of open-ended design
– Sensing goals
– Microcontrollers
– Support electronics
• Sensors
– Accelerometers
– Stain Gauge Load Cell
– Switches Sensors
Microcontrollers
Bridges
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
ELE604 Learning Objectives
• Typical of Accredited Engg. Programs (CEAB/ABET)
• Design
– Use technical knowledge, design methodology, and appropriate design tools and related resources;
– Distinguish between different design steps and carries out steps; Analyze/evaluate progress of design.
• Use of Engineering Tools
– List current tools for analysis, simulation, visualization, synthesis, and design, and is competent in using them; Understand the accuracy/limitations of tools and verifies the results’ credibility .
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Educational Theme: Inductive Learning
• Learn rules by observing phenomena
– Given a phenomenon what was the model?
– Constructivist
–Generate knowledge through interaction
– Push students to explore
• As opposed to Deductive Learning
– Given model, what is the phenomenon?
– Cookbook labs
– Canned examples
– Standard method
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Why a New EE Tool?
• Existing Tools – PSPICE & Multisim
– Simulink® & MatLAB®
• What’s the problem? – Can’t see “under the hood”
– Hard to tie analytic models to numeric solutions.
• Enter MapleSim… – Common elements there
– Intuitive GUI
– Output underlying equations
*MATLAB® and Simulink® are a registered trademark of The MathWorks Inc.
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Ex. 1: Sine-driven Resistor
• How to layout system
• Modify input
• Run simulation
• View results
• Create equations
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Ex. 2: The Inverting OpAmp
• A fundamental circuit in EE and BME
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Op-Amp teaching methods
• Deductive Method (Traditional)
– Tell students the OpAmp “Golden Rules”
– Solve sample circuits by hand
• Lots of potential for error
– Check with SPICE and in labs
• Inductive Method (New)
– Draw schematics & simulate
– Extract equations
– Do equations match behaviour?
– Check in labs
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Step 1 – Draw the Circuit
• Include a Probe at the output
– Give measurand a recognizable name (“ProbeVolt”)
– You’ll use it later
Images: http://en.wikipedia.org/wiki/File:Digital_Multimeter_Aka.jpg, http://en.wikipedia.org/wiki/File:Resistors_color_code.jpg, http://en.wikipedia.org/wiki/File:Lm356.jpg , http://en.wikipedia.org/wiki/File:9V_matchstick-1.jpg
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Step 2 – Observe Behaviour
• Numerical Simulation in MapleSim
– Just like Simulink® in MatLAB®
• What is the analytical model? Read on…
-17.5 volts
*MATLAB® and Simulink® are a registered trademark of The MathWorks Inc.
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Step 3 – Generate Equations
• Add Equation Attachment
• Maple window opens
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Step 3 – Equations (cont’d)
• Select Main subsystem
– “Load Selected Subsystem”
• Manipulate Parameter Names
– Optionally rename 2nd col. of Parameters
– “Reassign Equations”
• View Equations
– May need to enter some Maple commands.
– Don’t Panic.
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Step 3 – Equations (cont’d)
• Find “use the GetEquations command directly”
– Erase all the red text and replace with 2 commands:
1. Link back to the MapleSim model:
A := MapleSim:-LinkModel():
2. Search for the equation which defines the “ProbeVolt” output:
A:-GetEquations('output' = definitions, 'params' = all, 'filter' = {ProbeVolt})
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Step 3 – Equations (cont’d)
R1R = Resistance of R1 R2R = Resistance of R2
Create link to the OpAmp Model in MapleSim What are the equations?
Make parametric
Search for the output (defined earlier) with filter
output
V = input voltage
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
The Result Reinforces Learning!
• Software confirms what is in the book. • Familiarity: similar form is good.
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Ex. 3: Multi-Domain EE & MecE
• Multi-domain problems are possible, too
• DC motor (left) + OpAmp (right)
etc…
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Conclusions
• Multi-domain applications – MapleSim beats single-domain SPICE
– MapleSim GUI is as easy as Simulink®’s
• Inductive Learning – MapleSim has an advantage
– Better learning of model after observation due to equation generation
• Changing tools is never easy – Requires some effort
– I still export to Excel & Matlab to process data
*MATLAB® and Simulink® are a registered trademark of The MathWorks Inc.
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Acknowledgements
@Maplesoft: Ted, Tom, Gilbert, Tim, Graham and Derek
@Ryerson: BioRRG group, ELE604 students,
& Ryerson Design Chairs
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Venkat Krovi, PhD
Associate Professor,
Automation, Robotics and Mechatronics Laboratory
Mechanical and Aerospace Engineering,
SUNY Buffalo
http://mechatronics.eng.buffalo.edu
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Venkat Krovi
Research Interests Research Highlights
• Lifecycle treatment (design, analysis, implementation and verification) of smart, mechanical and mechatronic systems.
• Research Thrusts (a) Multi-robot Cooperative
Payload Transport
(b) Haptic Device Design
(c) Mediated Teleoperation;
(d) Haptic Rehabilitation
(e) Distributed real-time simulation/control of systems.
Professional Activities
• Founding Chair, ASME DSCD Robotics TC
• General Conference Chair, ASME International Design Engineering Technical Conferences, IDETC 2014.
• Member, Conference Activities Board and Industrial Activities Board, IEEE Robotics and Automation Society.
• Associate Editor, IEEE Transactions on Robotics (2012-2015)
• Past Technical Editor, IEEE/ASME Transactions on Mechatronics
• Past Associate Editor, ASME Journal of Dynamic Systems and Control
• M&R Conf. Chair, IDETC 2010
• Finance Chair, IROS 2014, ICRA 2012, ICRA 2012 & CASE 2010.
Honors
• NSF CAREER 2004
• 2000 Petro-Canada Young Innovator, McGill University
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Agenda
• Creation of Self-Paced MapleSim Tutorials to enhance a robotics course – 2010 ASME IDETC Conference, Aug. 16-18 2010 &
– ASEE Computers in Education (Special Issue on Robotics Education)
• Model-Based Control for Control Education. – 2010 Annual ASME DSCC Conference, Sept 12-15 2010 &
– ASEE Computers in Education (Special Issue on Robotics Education)
• Generation of Vehicle Dynamics Equations-of-Motion with Varying Fidelities. – 2007 ASME IMECE Conference.
• EOM Generation, Analysis, and Simulation for Complex Parallel Manipulators (Hexapod, HD2)
– 2010 ASME IDETC Conference, Aug. 16-18 2010 & 2011 ASME IDETC Conference, Aug. 28-31 2011
EDU
CA
TIO
N
RES
EAR
CH
Acknowledgments: Hrishi Shah, Sumit Tripathi, Anand Naik, Leng-Feng Lee, Xiaobo Zhou, Srikanth Kannan Madusudanan Sathia Narayanan, Seung kook Jun, Suren Kumar, Priyanshu Agrawal
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Role of Automated Symbolic
Generation of Equations of Motion in
Mechanisms and Robotics Education
Education
Publication H. Shah, S. Tripathi, L-F. Lee, and V. Krovi, "Role of Automated Symbolic Generation of Equations of Motion in Mechanism and Robotics Education,“ Proceeding of ASME 2010 International Design Engineering Technical Conferences, Montreal, Quebec, Canada, August 15-18, 2010. Shah, H. L., Tripathi, S., Lee, L.-F., and Krovi, V., “Role of Automated Symbolic Generation of Equations of Motion to Enhance Robotics Education", ASEE Computers in Education Journal, July-September 2010, Vol. I, No. 3, pp. 2-20 (WINNER OF 2010 HARDENS-SIMONS BEST JOURNAL PAPER AWARD).
1
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Education
• Self-paced MapleSim tutorials to aid in learning of kinematics and dynamics concepts in a robotics course.
• Not familiar with either theory /formulations or the tools .
• Linkage between Traditional Analytical and Automated Symbolic approaches
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Education
• Phased Introduction
– Simple Examples: Pendulum
– Intermediate examples: Double Pendulum/Fourbar
– Complex Examples: 3-RRR, 3PRR etc.
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Tutorials – Phase 1
Fx,Fy v/s t y v/s x
ω v/s θ θ v/s t Pendulum
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Tutorials – Phase 2
Fourbar
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Tutorials – Phase 3
Platform Center Active joints Passive joints
Platform Point Platform Point Platform Point
3RRR – MapleSim simulation
3PRR – MapleSim simulation
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Tutorials – Phase 3
3RRR – MapleSim EOM extraction
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Role of Automated Symbolic
Generation of Plant Models
in Control Education
Education
Publication S. Tripathi, H. Shah, L-F. Lee, V.N. Krovi, "Role of Automated Symbolic Generation of Plant Models in Control Education", Proceedings of 3rd Annual ASME Dynamic Systems and Control Conference, Cambridge, MA, September 13-15, 2010. Shah, H. L., Tripathi, S., Lee, L.-F., and Krovi, V., “Role of Automated Symbolic Generation of Equations of Motion to Enhance Robotics Education", ASEE Computers in Education Journal, July-September 2010, Vol. I, No. 3, pp. 2-20 (WINNER OF 2010 HARDENS-SIMONS BEST JOURNAL PAPER AWARD).
2
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Rotary Inverted (Furuta) Pendulum
• Spatial two link/two revolute system – Multivariable
– Nonlinear
– Under-actuated
– Naturally unstable
– Benefits from model-based control
• Available commercially – Quanser control experiment
Traditional Method Using Maplesim/Maple
2
1 {0}{1}
1 1( , )L m
2 2( , )L m
{2}
{3}
2
1
x axis
z axisy axis
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Rotary Inverted (Furuta) Pendulum
• “One-semester” independent study led to an MS Thesis
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Furuta Pendulum: Implementation
Overall MapleSim model
Simmechanics model with MapleSim controller
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Study of Vehicle Dynamics Modeling
Fidelity in Haptic Steer-by-Wire Driving
Simulators
Research
Publication Naik, A.P., Lee, L-F., and Krovi, V., “Study of Vehicle Dynamics Modeling Fidelity on Haptic Collaboration in Steer-by-Wire Systems,” Proceedings of the 2007 ASME International Mechanical Engineering Congress and Exposition, IMECE2007-41908, Seattle, WA, November 11 -15, 2007.
3
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Research: Haptic Driving Simulator
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Research: Haptic Steer-by-wire w/ varying modeling complexity
• Musculoskeletal Simulation Based Optimization of Rehabilitation Programs. – 2006 IEEE International Workshop on Virtual Rehabilitation.
• Musculoskeletal Simulation-based Parametric Study of Optimal Gait Frequency in Biped Locomotion. – 2008 IEEE/RAS-EMBS International Conference on Biomedical Robotics and
Biomechatronics
• Virtual Musculoskeletal Scenario-Testing Case-Studies. – 2008 IEEE/EMB Virtual Rehabilitation
• Rehabilitation Program Refinement Using Virtual Musculoskeletal Simulations – IEEE Transactions on Robotics, Special Issue on Rehabilitation Robotics.
® ®
*MATLAB ® and Simulink® are a registered trademark of The MathWorks Inc.
Build Model in MapleSim.
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Research: Haptic Steer-by-wire w/ varying modeling complexity
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Parallel Manipulators
Modeling and Analysis
Research
- Hexapod (MapleSim)
- High Definition Haptic Device (MapleSim)
.
4
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Research: Hexapod
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Research: Hexapod
® ®
*MATLAB ® and Simulink® are a registered trademark of The MathWorks Inc.
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Research: Hexapod
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Research: Hexapod
1 1 1 2 2 3 3 4 4 5 5 6 6[ , , , , , , , , , , , , , , , ]q s ax ay az a b a b a b a b a b a b 1 2 3 4 5 6 1 1 2 2 3 3 4 4 5 5 6 6[ , , , , , . , , , , , , , , , , , , , , ]q s s s s s s ax ay az a b a b a b a b a b a b
Various formulations possible
1 1 2 2 3 3 4 4 5 5 6 6[ , , , , , , , , , , , , , , , , , ]q xe ye ze ax ay az a b a b a b a b a b a b 1 2 3 4 5 6 1 1 2 2 3 3 4 4 5 5 6 6[ , , , , , , , , , , , , , , , , , , , , , , , ]q xe ye ze s s s s s s ax ay az a b a b a b a b a b a b
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Research: Hexapod
Simulation Without Gravity Simulation With Gravity
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Research: High Definition Haptic Drive
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Research Interests
• Lifecycle treatment (design, analysis, implementation and verification) of smart, mechanical and mechatronic systems.
• Research Thrusts (a) Multi-robot Cooperative
Payload Transport
(b) Haptic Device Design
(c) Mediated Teleoperation;
(d) Haptic Rehabilitation
(e) Distributed real-time simulation/control of systems.
Professional Activities
• Founding Chair, ASME DSCD Robotics TC
• General Conference Chair, ASME International Design Engineering Technical Conferences, IDETC 2014.
• Member, Conference Activities Board and Industrial Activities Board, IEEE Robotics and Automation Society.
• Associate Editor, IEEE Transactions on Robotics (2012-2015)
• Past Technical Editor, IEEE/ASME Transactions on Mechatronics
• Past Associate Editor, ASME Journal of Dynamic Systems and Control
• M&R Conf. Chair, IDETC 2010
• Finance Chair, IROS 2014, ICRA 2012, ICRA 2012 & CASE 2010.
Honors • NSF CAREER 2004
• 2000 Petro-Canada Young Innovator, McGill University
Thank You
http://mechatronics.eng.buffalo.edu
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Appendix
Extra slides
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Rotary Inverted (Furuta) Pendulum
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Furuta Pendulum (Cascaded Control Model)
20 22 24 26 28 30-0.2
-0.1
0
0.1
0.2
0.3
Time(sec)
Radia
ns
Motor Angle (1)
Pendulum Angle(2)
20 22 24 26 28 30-4
-2
0
2
4
6
8
Time(sec)
Vots
Control Voltage
0 2 4 6 8 10-0.1
-0.05
0
0.05
0.1
Time(sec)
Radia
ns
Motor Angle (1)
Pendulum Angle(2)
0 2 4 6 8 10-3
-2
-1
0
1
2
Time(sec)
Vots
Control Voltage
Input-Output Linearization code
Simulation Results
Overall Simulink® real-time model
Real-time run results
*MATLAB® and Simulink® are a registered trademark of The MathWorks Inc.
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Verification with CAD/SimMechanics Simulation
Virtual Reality Simulation SimMechanics Model Simulated with Input-Output Linearization Controller
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Testing with MATLAB® Real-Time Workshop
20 22 24 26 28 30-4
-2
0
2
4
6
8
Time(sec)
Vots
Control Voltage
20 22 24 26 28 30-0.2
-0.1
0
0.1
0.2
0.3
Time(sec)
Radia
ns
Motor Angle (1)
Pendulum Angle(2)
2 2
1 1
1 2 1 2
345.08, 35.44
0.20, 0.08
,
p d
p d
p p d d
K K
K K
K K K K
*MATLAB ® and SimMechanicsTM are a registered trademark of The MathWorks Inc.
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Research: Parallel Manipulator – Stewart Platform
®
*MATLAB® and Simulink® are a registered trademark of The MathWorks Inc.
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Research: Parallel Manipulator – Stewart Platform
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Furuta Pendulum: Automatically Generated Equations
Difference Between Hand Coded Lagrangian Modeling and MapleSim generated Mass Matrix
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Tim Vrablik
Associate Product Manager
MapleSim Academic
Maplesoft
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Maplesoft Education Solutions
Syst
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evel
Eq
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s
Vib
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on
Op
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Comprehensive application domains
Advanced analysis capabilities
Multidomain Modeling and Simulation Platform
Advanced Analysis Platform
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© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Maplesoft Education Solutions
MapleSim is a truly unique physical modeling platform:
• Built on a foundation of symbolic computation technology
• Makes available all of the complex mathematics involved in the development of engineering models
• Multidomain systems, multibody systems, plant modeling, control design
• Leverages the power of Maple to take advantage of extensive analytical tools
• Engineering models have an intimate connection to the underlying physics
• Systems-level equations easily available to students
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Multidomain Modeling and Simulation Platform
Advanced Analysis Platform
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© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Maplesoft Education Solutions
MapleSim leverages the advanced analysis capabilities of Maple:
• Maple has the world’s best symbolic and numeric solvers, making your models run extremely fast
• Knowledge capture - Interactive documentation
• High-level programming language with robust MapleSim API
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Multidomain Modeling and Simulation Platform
Advanced Analysis Platform
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© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Maplesoft Education Solutions
MapleSim and Maple work with your existing toolchain:
• Modelica 3.1 import/export
• MatLAB®/Simulink® import/export
• Excel connectivity
• LabVIEW and Veristand export
• dSpace export
• CAD: Solidworks, NX, Inventor
• Code generation: C, C#, Fortran, VB Sy
stem
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Equ
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Multidomain Modeling and Simulation Platform
Advanced Analysis Platform
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*MATLAB® and Simulink® are a registered trademark of The MathWorks Inc.
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Conclusion
What if students could confidently answer the questions…
• What is design? What is engineering?
• How does modeling and analysis help engineers design better, safer products?
• How would you even start to design something as complex as a space ship?
© 2012 Maplesoft, a division of Waterloo Maple Inc. A CYBERNET group company
Questions?
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