Mechatronics Curriculum - ICGST

meanchildlikeMechanics

Oct 31, 2013 (4 years and 8 days ago)

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Fax.:
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Education

Research

Development

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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

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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





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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


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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
.

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What is the Mechatronics?

© Uni North Carolina

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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)


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Mechatronics Labs (
6
G*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

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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
.


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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

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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.


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Robotics Curricula

Introduction 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,
3
D 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).


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Robot Platforms (
1
)

Indoor Robots

DLR Gripper

NASA Mars Rover

Asimo Humanoid

Outdoor Robots

Robot Base Station

KUKA Manipulator

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Robot Platforms (
2
)

Aibo
4
legged Robot

Robocup Team

Qurio Humanoid

NAO Humanoid

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Robot Platforms (
3
)

Big Dog Robot

HEXAPOD Robot

Snake Robot

Underwater Robot

Flying UAV

Micro Robot

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Robot Platforms (
4
)

Robot simulators

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Robot Platforms (
5
)

Robot educational kits

Robot sensors

CCD Camera

Compass

IR PSD

Sonar

Laser ranger

Servo motor

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Robot Platforms (
6
)

Light Sensor

Sound Sensor

Ultrasonic Sensor

Compass Sensor

Accelerometer Sensor

key transponder

NXT Intelligent Brick

Servo Motor

LEGO MINDSTORMS NXT

Touch Sensor

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Stepper, AC and DC Motors

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PLC and Microcontrollers

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Pc Board

GPIB

Serial/paralell

CAN BUS

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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

430
HX

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

OSR
2
,

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 & B

USB Logo

USB mini

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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
.

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
.

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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

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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


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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
5
m max



Tiered star



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Buses: USB

USB Devices:


HUB


Simplifies USB Connectivity


Detect attach and detach


Functions


USB devices that transmit or receive data

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Buses: FireWire


By Apple


BW:


400
Mbps


800
Mbps for
1394
b


Can send more than a CD every
10
sec


Plug & play


Support
63
devices


Provides power


Digital audio, video, external hard drives, …


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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.



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Buses: FireWire

12
Mbps

480
Mbps

800
Mbps

USB
1.1

400
Mbps

FW
400

USB
2.0

FW
800

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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

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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

P
urpose

I
nterface

B
us

(
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
.



S
tandard

C
ommands

for

P
rogrammable

I
nstruments

(
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
.

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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
20
m (
2
m
max. between a device and next device)


Text mode commands. (Easy to differentiate)


Using three handshake line for handshaking to ensure data
transmission accuracy.


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BUSES: GPIB

Oscilloscope

Digital multi
-
meter

Switch

Function generator

GPIB

Interface

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BUSES: GPIB

GPIB Connections

Linear Configuration Star Configuration

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BUSES: CAN

Controller

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

1
Mbps
.

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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
.

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Engineering Software

IDL

Matlab

Labview

HP
-
VEE

Linux

Qt

Mathematica

Mathcad

Autocad

PowerSHAPE

PowerMILL

CopyCAD

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