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Brad Nelson (Coordinator), Raffaello D’Andrea, Jonas Buchli, Margarita Chli, Jürg Dual, Roger Gassert (D-HEST), Pavel Hora, Christofer Hierold, Marco Hutter, Walter Karlen (D-HEST), Johann Kolar (D-ITET), John Lygeros, Edoardo Mazza, Mirko Meboldt, Marc Pollefeys, Dimos Poulikakos, Robert Riener (D-HEST), Roland Siegwart, Lothar Thiele (D-ITET), Konrad Wegener, Melanie Zeilinger.
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Mechatronics Focus
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Mechatronics
Image courtesy: Kevin C. Craig
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The Scale of Robotics and Mechatronics
10-9
10-6
10-3
1
103
106
109
1012
1015
nm
µm
mm
m
km
Edge of the solar system
Earth to Mars
Nearest Stars
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§ Pierre Jaquet-Droz (1721-1790)
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Swiss Watchmaker and Builder of Automatons
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Jaquet-Droz / Modern Humanoids
The Draughtsman
The Writer
The Musician
DARPA Robotics Challenge 2015
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The Traditional vs. Mechatronic Approach
Pinzgauer, Steyr-Daimler-Puch Hy-Wire, General Motors
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§ Actuators § DC servomotors, Stepper motors, Power amplifiers, Pneumatic actuators,
Hydraulic actuators, Piezoactuators, Voice coil motors, etc.
§ Sensors, e.g. encoders, strain gauges § Contact, proximity, position and orientation, acceleration, force, pressure,
temperature, etc.
§ CPU, e.g. PC, microcontrollers, digital signal processors (DSP), RISC processor
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Closed Loop Systems
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§ PC, Workstation
§ Pentium Chips § RAM (128 MB) § Disk drives § CDROM/DVDROM § Floppy drives § Hard disks (12GB) § Video Display (8MB) § Ethernet boards § Modems § Special graphics hardware etc. § and last, but not least, a complex
O.X., i.e. Windows
§ Embedded Systems
§ Microcontrollers § Digital Signal Processors (DSPs) § RISC Processors § Embedded PCs § Memory, backed up in some way
§ Battery backup § Some type of ROM § Magnetic bubble memory § Flash ram
§ Input/Output, digital and analog common § CPU, wide range of needs
§ Speed § Address bus size § Data bus size
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Computing Platforms
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Mechatronics Focus Courses (20 ETCS) Obligatorische Fächer LE-‐Nr. Dozent Spra-‐
che ECTS HS
ECTS FS
Studies on Mechatronics 151-‐0640-‐00 Please check in course catalogue E 5 (HS oder FS)
Wählbare Fächer
Electrical Drive Systems II 227-‐0517-‐00 P. Steimer, G. Scheuer, C. Stulz E 6
Leistungselektronik 227-‐0113-‐00 J. Kolar D 6
Microrobotics 151-‐0604-‐00 B. Nelson E 4
Microsystems Technology 151-‐0621-‐00 C. Hierold, M. Haluska E 6
Physical Human-‐Robot Interaction (pHRI)
376-‐1504-‐00 R. Gassert, R. Riener
E 4
Signals and Systems 151-‐0575-‐01 R. D’Andrea E 4
Energy Systems and Power Engineering
151-‐0206-‐00 R. Abhari, A. Steinfeld E 4
Introduction to Robotics and Mechatronics
151-‐0641-‐00 B. Nelson
E 4
Nanorobotics 151-‐0630-‐00 B. Nelson, S. Pané Vidal E 4
Ölhydraulik und Pneumatik 151-‐1224-‐00 K. Wegener, J. Lodewyks D 4
Digitale Regelsysteme 151-‐0588-‐00 E. Shafai D 3
Eingebettete Systeme 227-‐0124-‐00 L. Thiele D 6
Elektrische Antriebssysteme I 227-‐0516-‐01
P. Steimer, L. Dalessandro, A. Omlin
D 6
Experimentelle Mechanik 151-‐0540-‐00 J. Dual D 4
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§ Microrobots for Ophtalmic Surgery
§ Artificial Bacterial Flagella
§ Magnetic Manipulation
§ Micromanipulation
§ Nanostructures for Drug Delivery
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Micro and Nano Robotics
Bra
d N
elso
n
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§ Research Area § Design of robots and mechatronic systems
§ Walking- and inspection robots § Aerial Robots: Solar, Helicopters § Service and Personal Robots § Autonomous Cars and Space Rovers
§ Navigation and mapping § Mapping and reasoning in real world settings § Visual navigation and planning in dynamic environments
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Autonomous Mobile Robots
Rol
and
Sieg
war
t
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Dynamic Human-Robot Interaction
Rog
er G
asse
rt
Mechatronics High-Fidelity
Haptics
www.relab.ethz.ch
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§ Mission Statement: § Understanding the control of dynamic motions of robots, human and
animals in unstructured environments § Providing the ‘intelligence’ for versatile, agile and dexterous service robots.
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The Agile and Dexterous Robotics Lab
Jona
s B
uchl
i
Gotthard - 6.6.2012
A D R L
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The Agile and Dexterous Robotics Lab
Jona
s B
uchl
i
Robots with arms & legs Machine learning
Model based control
Physics & Modeling
Machine learning
Data driven robotics
Control & Estimation
Theory
< 30 trials to success!
A D R L
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The Agile and Dexterous Robotics Lab
Jona
s B
uchl
i A D R L
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Sensory-Motor Systems Lab
Rob
ert R
iene
r
Rehabilitation Robotics
Sleep Research
Motor Control & Sports
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§ Our work is focused on the creation of systems that leverage technological innovations, scientific principles, advanced mathematics, algorithms, and the art of design in unprecedented ways, with an emphasis on advanced motion control.
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Institute for Dynamic Systems and Control
Raf
fael
lo D
’And
rea
Balancing Cube A structure that can balance on any one of ist edges or corners using six rotating mechanisms on the cube’s inner faces.
Blind Juggler A robot that can bounce multiple balls on a paddle without sensory input.
Cubli A 15 x 15 x 15 cm cube that can jump up and balance on a corner, using momentum wheels mounted on three of its faces.
RoboEarth A World Wide Web for robots, to greatly speed up robot learning and adaptation in complex tasks.
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Institute for Dynamic Systems and Control
Raf
fael
lo D
’And
rea
Distributed Flight Array A flying platform consisting of multiple autonomous single propeller vehicles that are able to drive, dock with their peers, and fly in a coordinated fashion.
Flying Platform An experimental set up to study the use of electric ducted fans for joint control and propulsion. In addition, it serves as a testbed for novel control strategies taking actuation limits into account.
§ For more information on our projects visit www.idsc.ethz.ch
Omnicopter An omni-directional aerial vehicle capable of independent tracking of position and attitude trajectories.
Monospinner The world’s mechanically simplest, controllable flying machine with only one moving part.
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Institute for Dynamic Systems and Control
Raf
fael
lo D
’And
rea
Tailsitter A flying machine combining hover capability and efficient forward flight.
§ For more information on our projects visit www.idsc.ethz.ch
Quadrotor Ring A quadrotor with an annular wing that acts as a lifting surface for high speed horizontal flight.
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§ Particles ( beads, cells, … ) are moved or rotated by nonlinear acoustics in fluid cavities in microsystems (see Lab on Chip Tutorial Series 2011-2012) e.g. for biomedical applications
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Ultrasonic Particle Manipulation Jü
rg D
ual
Ultrasonic Manipulation of Copolymer Beads (74µm) with microgripper Collab. with Nelson group, ETHZ 1 mm channel, 6x slower
Ultrasonic Manipulation of MCF10A Cells: Line Formation Collab. with University Hospital Zurich Field of view: 0.67 x 0.56 mm , Real time
Ultrasonic Rotation of Particle Clumps 17 µm Copolymer particles Real time, 3 mm x 3 mm square chamber
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Advanced Microsystems, Nanotransducers and Nanosystems
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Chr
isto
pher
Hie
rold
Ultraclean CNT transistors
Ultra-low power acoustic emission trigger Pressure sensor for a
Ventricular Assist Device
Tunable CNT resonators www.micro.mavt.ethz.ch
µTEGs based on SiNWs
Energy harvesting from the human body
Single-wall CNT gas sensors
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Mobile Health Systems Lab
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Wal
ter K
arle
n Placeholder image
www.mhsl.hest.ethz.ch
§ Biomedical Signal & Image Processing § Embedded Systems & Sensors § Real Time Quality Control § Adaptive & Appropriate Systems § Clinical Evaluation § Biomedical Optics
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§ Wireless Networks for Sensing in Extreme Environments (low power, energy harvesting, GPS, reliable communication)
§ Low Power and Temperature Hardware and Software Architectures
§ Exploration of Designs Using Evolutionary Approaches
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Embedded Systems
Loth
ar T
hiel
e
selection cross-over mutation
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Power Electronic Systems Laboratory
Joha
nn K
olar
Ultra-Light Weight Airborne Wind Turbine Generator
Little-Box Challenge Inverter System
• Ultra-Compact/Efficient Power Electronics Converters • Ultra-High Speed Motors • Bearingless Motors
• Green Energy Applications • Medical / Pharmaceutical Applications • Future More Electric Aircraft • etc.
Active Magnetic Bearing Machine for Satellite Attitude Control, etc.
500’000rpm !
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§ Robot vision § Visual Localization and Mapping (V-SLAM) § Real-time Computer Vision § 3D modeling
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3D Geometric Computer Vision
Mar
c Po
llefe
ys
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Simulation Design Production Qualification Assembly Testing
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Product Development & Engineering Design For more information visit www.pdz.ethz.ch
Mirk
o M
ebol
dt
User Centred Design • Fuzzy front end
engineering • Innovation • Design Thinking
Design and Production • 3D-Printing • Additive
manufacturing and Composite
Biomedical Systems • Implants e. g.
Left heart assist devices
Product development • From customer
needs to series production
Thoratec Heartmate II
A typical thesis starts with idea phase and ends with the tested product:
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Vision-based perception for robots – focus on small UAVs
§ Robot Navigation § Scene Reconstruction / Understanding § Collaborative Robot sensing & mapping
Applications to:
Vision for Robotics Lab
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Mar
garit
a C
hli Placeholder
image
www.v4rl.ethz.ch
CROP MONITORING SEARCH & RESCUE SCENE RECONSTRUCTION INDUSTRIAL INSPECTION
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Vision for Robotics Lab
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Mar
garit
a C
hli Placeholder
image
MONOCULAR CAMERA
OTHER VISION-BASED SENSORS
Online Scene Reconstruction for UAV navigation
Place Recognition for multi-robot missions
Accurate Surface estimation with a Time-of-flight camera
Event-based cameras for Robot Navigation
www.v4rl.ethz.ch
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§ Design and control of legged robots
§ Force control of electric and hydraulic actuators
§ Digital fabrication and construction automation
§ Dynamic manipulation
Robotic Systems Lab
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Mar
co H
utte
r
“create machines and their skills to work in challenging environments”
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Optimization-based Control: § Distributed Optimization for Control § Real-time Methods § Safe learning-based Control
Human in the loop Control Systems § Semi-autonomous Vehicles § Personalized Control
Intelligent Control Systems
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Mel
anie
Zei
linge
r Placeholder image
Goal: High performance control for safety-critical systems in varying, uncertain environments involving human interaction.
Human
Automatic Controller
0 2 4 6 8 10
�2
0
2
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Mechatronics
Thank you!
