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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].: 0020-12-1804952Fax.: 0020-2-24115475
Mechatronics: Education, Research & Development
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 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
GPIBSerial/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
End
http://www.icgst.com/con11/aiml11/index.html