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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 centered 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 SystemsA 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.


■ Adaptive control■Satellite services radio/GPS■ Tele-operation■ Software control■ Rain-sensing ■ Auto parking■ Simulators■ Testing

■ Entertainment■ Generation II ABS■ Heads-up monitoring■ Night vision■ Back-up collision sensor■ Navigation■ Tire pressure sensing■ Holonomic non-holonomic motion

Embedded Systems in Automotive Applications


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 CurriculaIntroduction to Robotics: History, Asimov’s 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 kinematicsSensors 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

Robocup TeamQurio Humanoid NAO Humanoid


Robot Platforms (3)

Big Dog RobotHEXAPOD RobotSnake Robot

Underwater RobotFlying UAVMicro Robot


Robot Platforms (4)

Robot simulators


Robot Platforms (5)

Robot educational kits

Robot sensors

CCD Camera Compass IR PSD Sonar Laser rangerServo motor


Robot Platforms (6)

Light SensorSound Sensor

Ultrasonic SensorCompass SensorAccelerometer Sensorkey transponder

NXT Intelligent Brick Servo Motor

LEGO MINDSTORMS NXT

Touch Sensor


Stepper, AC and DC Motors


PLC and Microcontrollers


Pc Board

GPIB Serial/paralell

CAN BUS


Buses: USBUSB (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 Type A & BUSB Logo USB mini


Buses: USBUSB 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. Hi-speed 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 connectorHub topology Auto detection and configurationLow powerHigh PerformanceSupports up to 127 external devicesProvides powerBW: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: USBUSB Devices:HUB

◦ Simplifies USB Connectivity◦ Detect attach and detach

Functions◦ USB devices that transmit or receive data


Buses: FireWireBy AppleBW:

◦ 400 Mbps ◦ 800 Mbps for 1394b ◦ Can send more than a CD every 10 sec

Plug & playSupport 63 devicesProvides powerDigital audio, video, external hard drives,

…


Buses: FireWireThe 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

12Mbps

480 Mbps

800 Mbps

USB 1.1

400 MbpsFW 400

USB 2.0

FW 800


USB versus FireWire

USB FireWire

On-bus power 2.5W 45W (!)

Max # devices 127 63

Topology Star Tree

Plug & Play Yes Yes

Peer-to-peer connectivity No Yes

Device Cost Low 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 488.1-1987. •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: GPIBGPIB 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

Digital multi-meter Switch

Function generator

GPIBInterface


BUSES: GPIB

GPIB Connections

Linear Configuration Star Configuration


BUSES: CANController–area 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 dual-wire networked data bus up to 1Mbps.


BUSES: CANIn 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

IDLMatlab Labview HP-VEE

Linux Qt

Mathematica

Mathcad

Autocad PowerSHAPE PowerMILL CopyCAD


Documents

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